public double DoEvaluation(Network net, HardMaze env, int runcount = 1000)
{
Session session = new Session(env,
new FitnessHandler(env.compute_fitness),
new NWSELib.EventHandler(doEventHandler),
new InstinctActionHandler(HardMaze.createInstinctAction),
new OptimaGestureHandler(env.GetOptimaGestureHandler),
new TaskBeginHandler(env.TaskBeginHandler));
(List <double> obs, List <double> gesture) = env.reset(net);
net.Reset();
double reward = 0.0;
bool end = false;
for (int time = 0; time < runcount; time++)
{
List <double> inputs = new List <double>(obs);
inputs.AddRange(gesture);
List <double> actions = net.Activate(inputs, time, session, reward);
(obs, gesture, actions, reward, end) = env.action(net, actions);
if (end)
{
break;
}
}
net.Fitness = Session.fitnessHandler == null ? 0 : Session.fitnessHandler(net, session);
net.TaskCompleted = end;
return(net.Fitness);
}
public void Execute(String networkPaths, String mazePath, NWSELib.EventHandler handler, int runcount = 1200)
{
netDirectoryInfo = new DirectoryInfo(networkPaths);
mazeDirectionInfo = new DirectoryInfo(mazePath);
netFileInfos = netDirectoryInfo.GetFiles("*.ind");
mazeFileInfos = mazeDirectionInfo.GetFiles("*.xml");
for (int i = 0; i < netFileInfos.Length; i++)
{
Network net = null;
List <double> performances = new List <double>();
for (int j = 0; j < mazeFileInfos.Length; j++)
{
net = Network.Load(netFileInfos[i].FullName);
HardMaze env = HardMaze.loadEnvironment(mazeFileInfos[j].FullName);
double value = DoEvaluation(net, env, runcount);
performances.Add(value);
}
String log = netFileInfos[i].Name + "," + net.Id.ToString() + "," + performances.Average().ToString() + "," + Utility.toString(performances);
int g = int.Parse(DateTime.Now.ToString("HHmmss"));
handler(Session.EVT_LOG, g, log);
//logger.Info(log);
}
}
public virtual void update()
{
HardMaze env = this.Owner.maze;
Point2D location = new Point2D(Owner.Location.X, Owner.Location.Y);
Wall hit;
DistanceToClosestObject = this.raycast(env, Angle, MaxRange, location, Owner, out hit);
}
/// <summary>
/// Casts a ray from the robot's center point according to the specified Angle and returns the Distance to the closest object.
/// </summary>
/// <param name="Angle">Angle of sensor, in radians. Also see the "absolute" parameter.</param>
/// <param name="maxRange">Max Distance that the robot can see in front of itself.</param>
/// <param name="point">2D location of the robot's center.</param>
/// <param name="Owner">The currently active robot.</param>
/// <param name="hit">** Output variable ** - true if another object intersects the cast ray, false otherwise.</param>
/// <param name="absolute">If false, the Angle parameter is relative to the agent's Heading. Otherwise it follows the standard unit AreaOfImpact.</param>
/// <returns></returns>
public static double raycast(this IAgentSensor sensor, HardMaze maze, double angle, double maxRange, Point2D point, RobotAgent owner, out Wall hit, bool absolute = false)
{
hit = null;
Point2D casted = new Point2D(point);
double distance = maxRange;
// Cast point casted out from the robot's center point along the sensor direction
if (!absolute)
{
casted.X += Math.Cos(angle + owner.Heading) * distance;
casted.Y += Math.Sin(angle + owner.Heading) * distance;
}
else
{
casted.X += Math.Cos(angle) * distance;
casted.Y += Math.Sin(angle) * distance;
}
// Create line segment from robot's center to casted point
Line2D cast = new Line2D(point, casted);
// Now do naive detection of collision of casted rays with objects
// First for all walls
foreach (Wall wall in maze.walls)
{
if (!wall.Visible)
{
continue;
}
bool found = false;
Point2D intersection = wall.Line.intersection(cast, out found);
if (found)
{
double new_distance = intersection.distance(point);
if (new_distance < distance)
{
distance = new_distance;
hit = wall;
}
}
}
return(distance);
}
/// <summary>
/// Loads a CurrentEnvironment from the specified XML file and initializes it.
/// </summary>
public static HardMaze loadEnvironment(string name)
{
System.Xml.Serialization.XmlSerializer x = new System.Xml.Serialization.XmlSerializer(typeof(HardMaze));
TextReader infile = new StreamReader(name);
HardMaze k = (HardMaze)x.Deserialize(infile);
k.maxDistance = (float)Math.Sqrt(k.AOIRectangle.Width * k.AOIRectangle.Width + k.AOIRectangle.Height * k.AOIRectangle.Height);
k.maxGoalDistance = float.MinValue;
double d = k.goal_point.distance(new Point2D(k.AOIRectangle.X, k.AOIRectangle.Y));
if (d > k.maxGoalDistance)
{
k.maxGoalDistance = d;
}
d = k.goal_point.distance(new Point2D(k.AOIRectangle.X + k.AOIRectangle.Width, k.AOIRectangle.Y));
if (d > k.maxGoalDistance)
{
k.maxGoalDistance = d;
}
d = k.goal_point.distance(new Point2D(k.AOIRectangle.X, k.AOIRectangle.Y + k.AOIRectangle.Height));
if (d > k.maxGoalDistance)
{
k.maxGoalDistance = d;
}
d = k.goal_point.distance(new Point2D(k.AOIRectangle.X + k.AOIRectangle.Width, k.AOIRectangle.Y + k.AOIRectangle.Height));
if (d > k.maxGoalDistance)
{
k.maxGoalDistance = d;
}
k.name = name;
Console.WriteLine("# walls: " + k.walls.Count);
k.rng = new Random(k.seed);
k.fitnessFunction = new OptimaTraceFitness(k.OptimaTraces, k.goal_point);
return(k);
}
/// <summary>
/// Updates the sensor based on the current state of the environment.
/// </summary>
public virtual void update()
{
HardMaze env = this.Owner.maze;
Activation = 0;
Point2D temp;
double dist;
double angle;
if (Type == "goal")
{
temp = new Point2D(env.goal_point.X, env.goal_point.Y);
}
else
{
temp = new Point2D(env.start_point.X, env.start_point.Y);
}
dist = EngineUtilities.euclideanDistance(temp, new Point2D(Owner.AreaOfImpact.Position.X, Owner.AreaOfImpact.Position.Y));
//translate with respect to location of navigator
temp.X -= (float)Owner.AreaOfImpact.Position.X;
temp.Y -= (float)Owner.AreaOfImpact.Position.Y;
angle = (float)temp.angle();
angle *= 57.297f;
angle -= (float)Owner.Heading * 57.297f;
while (angle > 360)
{
angle -= 360;
}
while (angle < 0)
{
angle += 360;
}
if (angle >= StartAngle && angle < EndAngle)
{
if (Type == "goal")
{
Activation = 1.0 - (dist > MaxRange ? 1.0 : dist / MaxRange);
}
else
{
Activation = 1.0;
}
}
else if (angle + 360.0 >= StartAngle && angle + 360.0 < EndAngle)
{
if (Type == "goal")
{
Activation = 1.0 - (dist > MaxRange ? 1.0 : dist / MaxRange);
}
else
{
Activation = 1.0;
}
}
}
