/// <summary>
/// If using NEAT, this function simply sets the AgentBrain genome variable as the brain. Otherwise, the genome is actually used as a genome and is decoded into the appropriate brain structure.
/// </summary>
private void createBrains()
{
if (Genome != null)
{
if (NeatBrain)
{
Brain = Genome;
}
else
if (Homogeneous)
{
ANN = SubstrateDescription.generateHomogeneousGenome(Genome, NormalizeANNWeights, this.AdaptableANN, this.ModulatoryANN, EvolveSubstrate);
Brains = new List <INetwork>();
for (int i = 0; i < NumRobots; i++)
{
INetwork b = ANN.Decode(null);
Brains.Add(b);
}
}
else
{
if (MultipleBrains)
{
List <NeatGenome> genes = SubstrateDescription.generateGenomeStackSituationalPolicy(Genome, Convert.ToUInt32(NumRobots), NormalizeANNWeights, AdaptableANN, ModulatoryANN, 2, out ZCoordinates);
for (int j = 0; j < genes.Count; j++)
{
MultiBrains.Add(genes[j].Decode(null));
}
Brain = MultiBrains[0];
}
else if (Hive)
{
ANN = SubstrateDescription.generateHiveBrainGenomeStack(Genome, Convert.ToUInt32(NumRobots), NormalizeANNWeights, AdaptableANN,
ModulatoryANN, out ZCoordinates, EvolveSubstrate, UseCTRNNs);
Brain = UseCTRNNs ? ANN.DecodeToCTRNN() : ANN.Decode(null);
}
else
{
ANN = SubstrateDescription.generateMultiGenomeStack(Genome, Convert.ToUInt32(NumRobots), NormalizeANNWeights, AdaptableANN,
ModulatoryANN, out ZCoordinates, EvolveSubstrate);
Brain = ANN.Decode(null);
}
}
}
}
private void createBrains()
{
if (genome != null)
{
if (homogenous)
{
ANN = substrateDescription.generateHomogeneousGenome(genome, normalizeANNWeights, this.adaptableANN, this.modulatoryANN, evolveSubstrate);
brains = new List <INetwork>();
for (int i = 0; i < numRobots; i++)
{
INetwork b = ANN.Decode(null);
brains.Add(b);
}
}
else
{
if (multipleBrains) //Multiple brains with situational policies
{
List <NeatGenome> genes = substrateDescription.generateGenomeStackSituationalPolicy(genome, Convert.ToUInt32(numRobots), normalizeANNWeights, adaptableANN, modulatoryANN, 2, out zcoordinates);
for (int j = 0; j < genes.Count; j++)
{
multiBrains.Add(genes[j].Decode(null));
}
brain = multiBrains[0];
}
else
{
ANN = substrateDescription.generateMultiGenomeStack(genome, Convert.ToUInt32(numRobots), normalizeANNWeights, adaptableANN,
modulatoryANN, out zcoordinates, evolveSubstrate);
brain = ANN.Decode(null);
}
}
}
}
private void createBrains()
{
if (genome != null)
{
//Schrum: debugging
//Console.WriteLine("genome != null");
if (homogenous)
{
//Schrum: debugging
//Console.WriteLine("homogenous");
ANN = substrateDescription.generateHomogeneousGenome(genome, normalizeANNWeights, this.adaptableANN, this.modulatoryANN, evolveSubstrate);
brains = new List <INetwork>();
for (int i = 0; i < numRobots; i++)
{
INetwork b = ANN.Decode(null);
brains.Add(b);
}
}
else
{
//Schrum: debugging
//Console.WriteLine("!homogenous");
if (multipleBrains) //Multiple brains with situational policies
{
//Schrum: debugging
//Console.WriteLine("multipleBrains");
// Schrum: The original code hard codes "2" as the nubmer of brains for any multi brain scenario TODO
//List<NeatGenome> genes = substrateDescription.generateGenomeStackSituationalPolicy(genome, Convert.ToUInt32(numRobots), normalizeANNWeights, adaptableANN, modulatoryANN, 2, out zcoordinates);
List <NeatGenome> genes = substrateDescription.generateGenomeStackSituationalPolicy(genome, Convert.ToUInt32(numRobots), normalizeANNWeights, adaptableANN, modulatoryANN, numBrains, out zcoordinates, forcedSituationalPolicyGeometry);
// Schrum: Debugging module deletion
/**
* if(genes.Count == 0)
* {
* Console.WriteLine("InputNeuronCount :" + genome.InputNeuronCount);
* Console.WriteLine("NumLinks :" + genome.NumLinks);
* Console.WriteLine("NumOutputModules :" + genome.NumOutputModules);
* Console.WriteLine("OutputNeuronCount:" + genome.OutputNeuronCount);
* Console.WriteLine("OutputsPerPolicy :" + genome.OutputsPerPolicy);
* Console.WriteLine("TotalNeuronCount :" + genome.TotalNeuronCount);
*
* throw new Exception("How is genes.Count 0!");
* }
**/
for (int j = 0; j < genes.Count; j++)
{
multiBrains.Add(genes[j].Decode(null));
}
// Schrum: for debugging
/*
* for (int j = 0; j < multiBrains.Count; j++)
* {
* if (multiBrains[j] == null)
* {
* Console.WriteLine(j +": Null brain!");
* }
* else
* {
* Console.WriteLine(j + ":" + multiBrains[j]);
* Console.WriteLine(j + ":CurrentOutputModule:" + multiBrains[j].CurrentOutputModule);
* Console.WriteLine(j + ":InputNeuronCount:" + multiBrains[j].InputNeuronCount);
* Console.WriteLine(j + ":OutputNeuronCount:" + multiBrains[j].OutputNeuronCount);
* Console.WriteLine(j + ":OutputsPerPolicy:" + multiBrains[j].OutputsPerPolicy);
* Console.WriteLine(j + ":TotalNeuronCount:" + multiBrains[j].TotalNeuronCount);
* Console.WriteLine(j + ":NumOutputModules:" + multiBrains[j].NumOutputModules);
* }
* }
*/
brain = multiBrains[0];
}
else
{
//Schrum: debugging
//Console.WriteLine("!multipleBrains");
ANN = substrateDescription.generateMultiGenomeStack(genome, Convert.ToUInt32(numRobots), normalizeANNWeights, adaptableANN,
modulatoryANN, out zcoordinates, evolveSubstrate);
brain = ANN.Decode(null);
}
}
}
}
