/// <summary>
/// Runs the navigator through its corresponding maze and records data about said evaluation (e.g. solved status, time
/// steps, and trajectory).
/// </summary>
/// <param name="evaluationUnit">A single unit of evaluation containing a paired maze and navigator.</param>
/// <param name="experimentParameters">Parameters that control the navigation simulation.</param>
public static void EvaluateMazeNavigatorUnit(MazeNavigatorEvaluationUnit evaluationUnit,
ExperimentParameters experimentParameters)
{
// Build maze configuration
var mazeConfiguration =
new MazeConfiguration(DataManipulationUtil.ExtractMazeWalls(evaluationUnit.MazePhenome.Walls),
DataManipulationUtil.ExtractStartEndPoint(evaluationUnit.MazePhenome.StartLocation),
DataManipulationUtil.ExtractStartEndPoint(evaluationUnit.MazePhenome.TargetLocation),
evaluationUnit.MazePhenome.MaxTimesteps);
// Create trajectory behavior characterization (in order to capture full trajectory of navigator)
IBehaviorCharacterization behaviorCharacterization = new TrajectoryBehaviorCharacterization();
// Create the maze navigation world
var world = new MazeNavigationWorld <BehaviorInfo>(mazeConfiguration.Walls,
mazeConfiguration.NavigatorLocation, mazeConfiguration.GoalLocation,
experimentParameters.MinSuccessDistance, mazeConfiguration.MaxSimulationTimesteps,
behaviorCharacterization);
// Run a single trial
var trialInfo = world.RunTrial(evaluationUnit.AgentPhenome, SearchType.MinimalCriteriaSearch,
out var isGoalReached);
// Set maze solved status
evaluationUnit.IsMazeSolved = isGoalReached;
// The number of time steps is effectively the number of 2-dimensional points in the behaviors array
evaluationUnit.NumTimesteps = trialInfo.Behaviors.Count() / 2;
// Set the trajectory of the agent
evaluationUnit.AgentTrajectory = trialInfo.Behaviors;
}
public MazeNavigationView(IGenomeDecoder<NeatGenome, IBlackBox> genomeDecoder, MazeNavigationWorld<ITrialInfo> world)
{
InitializeComponent();
_genomeDecoder = genomeDecoder;
_world = world;
// Create a bitmap for the picturebox.
int width = Width;
int height = Height;
_image = new Bitmap(width, height, ViewportPixelFormat);
pbx.Image = _image;
// Create background thread for running simulation alongside NEAT algorithm.
//_simThread = new Thread(new ThreadStart(SimulationThread));
//_simThread.IsBackground = true;
//_simThread.Start();
}
/// <summary>
/// Runs the navigator through its corresponding maze and records data about said evaluation (e.g. solved status, time
/// steps, and trajectory).
/// </summary>
/// <param name="evaluationUnit">A single unit of evaluation containing a paired maze and navigator.</param>
/// <param name="experimentParameters">Parameters that control the navigation simulation.</param>
public static void EvaluateMazeNavigatorUnit(MazeNavigatorEvaluationUnit evaluationUnit,
ExperimentParameters experimentParameters)
{
bool isGoalReached;
// Build maze configuration
MazeConfiguration mazeConfiguration =
new MazeConfiguration(ExtractMazeWalls(evaluationUnit.MazePhenome.Walls),
ExtractStartEndPoint(evaluationUnit.MazePhenome.StartLocation),
ExtractStartEndPoint(evaluationUnit.MazePhenome.TargetLocation));
// Create trajectory behavior characterization (in order to capture full trajectory of navigator)
IBehaviorCharacterization behaviorCharacterization = new TrajectoryBehaviorCharacterization();
// Create the maze navigation world
MazeNavigationWorld<BehaviorInfo> world = new MazeNavigationWorld<BehaviorInfo>(mazeConfiguration.Walls,
mazeConfiguration.NavigatorLocation, mazeConfiguration.GoalLocation,
experimentParameters.MinSuccessDistance, experimentParameters.MaxTimesteps, behaviorCharacterization);
// Run a single trial
BehaviorInfo trialInfo = world.RunTrial(evaluationUnit.AgentPhenome, SearchType.MinimalCriteriaSearch,
out isGoalReached);
// Set maze solved status
evaluationUnit.IsMazeSolved = isGoalReached;
// The number of time steps is effectively the number of 2-dimensional points in the behaviors array
evaluationUnit.NumTimesteps = trialInfo.Behaviors.Count()/2;
// Set the trajectory of the agent
evaluationUnit.AgentTrajectory = trialInfo.Behaviors;
}
