void GeneratePlanStateRepresentation(string outputPath, ProblemDefinition problemDefinition)
{
var traits = problemDefinition.GetTraitsUsed()
.Append(PlannerAssetDatabase.TraitDefinitions.FirstOrDefault(t => t.name == nameof(PlanningAgent)))
.Distinct()
.Where(t => t != null)
.Select(t => new
{
name = t.name,
relations = t.Properties.Where(p =>
p.Type == typeof(GameObject) || p.Type == typeof(Entity))
.Select(p => new { name = p.Name }),
attributes = t.Properties.Where(p =>
p.Type != typeof(GameObject) && p.Type != typeof(Entity) && GetRuntimePropertyType(p) != null)
.Select(p => new
{
field_type = GetRuntimePropertyType(p),
field_name = p.Name
})
});
int numTraits = traits.Count();
int traitsAlignmentSize = ((numTraits + 3) / 4) * 4;
var result = m_CodeRenderer.RenderTemplate(PlannerResources.instance.TemplateStateRepresentation, new
{
@namespace = $"{TypeHelper.StateRepresentationQualifier}.{problemDefinition.Name}",
trait_list = traits,
num_traits = numTraits,
alignment_size = traitsAlignmentSize
});
SaveToFile(Path.Combine(outputPath, TypeHelper.StateRepresentationQualifier, problemDefinition.Name, "PlanStateRepresentation.cs"), result);
}
void GeneratePlanner(ProblemDefinition definition, string planName, string outputPath, bool includeEnums = false)
{
var customCumulativeRewardEstimator = definition.CustomCumulativeRewardEstimator;
var rewardEstimatorTypeName = string.IsNullOrEmpty(customCumulativeRewardEstimator) ? "DefaultCumulativeRewardEstimator" : $"global::{customCumulativeRewardEstimator}";
var defaultCumulativeRewardEstimator = new
{
lower = definition.DefaultEstimateLower,
avg = definition.DefaultEstimateAverage,
upper = definition.DefaultEstimateUpper,
};
var result = m_CodeRenderer.RenderTemplate(PlannerResources.instance.TemplatePlanExecutor, new
{
@namespace = $"{TypeHelper.PlansQualifier}.{planName}",
plan_name = definition.Name,
actions = definition.ActionDefinitions,
traits = definition.GetTraitsUsed(),
reward_estimator = rewardEstimatorTypeName,
default_reward_estimate = defaultCumulativeRewardEstimator,
terminations = definition.StateTerminationDefinitions.Where(t => t != null).Select(t => t.Name),
include_enums = includeEnums,
state_representation_qualifier = TypeHelper.StateRepresentationQualifier
});
SaveToFile(Path.Combine(outputPath, TypeHelper.PlansQualifier, planName, $"{definition.name}Executor.cs"), result);
}
bool IsPlanAssetValid(ProblemDefinition problemDefinition, Type[] customTypes = null)
{
bool planValid = true;
// Check for duplicate actions
List <string> declaredActions = new List <string>();
foreach (var action in problemDefinition.ActionDefinitions)
{
if (declaredActions.Contains(action.Name))
{
errorLogged?.Invoke($"{action.Name} is a duplicated action.", problemDefinition);
planValid = false;
}
else
{
declaredActions.Add(action.Name);
}
}
if (!string.IsNullOrEmpty(problemDefinition.CustomCumulativeRewardEstimator))
{
var rewardEstimatorType = customTypes?.FirstOrDefault(t => t.FullName == problemDefinition.CustomCumulativeRewardEstimator);
if (rewardEstimatorType == null)
{
errorLogged?.Invoke($"Couldn't resolve custom cumulative reward estimator type {problemDefinition.CustomCumulativeRewardEstimator}.", problemDefinition);
planValid = false;
}
}
return(planValid);
}
private void InstantiateProblemButtons()
{
foreach (var button in _questionButtons)
{
Destroy(button);
}
_questionButtons.Clear();
for (var i = 0; i < _currentTopic.problems.Length; i++)
{
if (_currentTopic.problems[i].isActive != true)
{
continue;
}
var instantiatedButton = Instantiate(questionButtonPrefab, questionContentArea.transform);
var button = instantiatedButton.GetComponent <QuestionButton>();
_questionButtons.Add(instantiatedButton);
var i1 = i;
button.questionButton.onClick.AddListener(() =>
{
_currentProblem = _currentTopic.problems[i1];
SetupScreen(Screen.Explanation);
var text = _currentProblem.longDescription;
contentExplanation.text = text;
_isPlacementPositioned = false;
OnProblemSelected?.Invoke(_currentProblem);
});
button.questionImage.sprite = _currentTopic.problems[i].sprite;
button.titleText.text = _currentTopic.problems[i].title;
}
}
public InformedStateSampler(ProblemDefinition probDefn, uint maxNumberCalls, SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t costFunc) : this(ompl_basePINVOKE.new_InformedStateSampler__SWIG_0(ProblemDefinition.getCPtr(probDefn), maxNumberCalls, SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t.getCPtr(costFunc)), true)
{
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
}
public InformedStateSampler(ProblemDefinition probDefn, SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t costFunc, SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t infSampler) : this(ompl_basePINVOKE.new_InformedStateSampler__SWIG_1(ProblemDefinition.getCPtr(probDefn), SWIGTYPE_p_std__functionT_ompl__base__Cost_fF_t.getCPtr(costFunc), SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t.getCPtr(infSampler)), true)
{
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void Setup()
{
m_TraitDefinition = DynamicStruct.Create <TraitDefinition>();
m_TraitDefinition.CreateProperty <int>("FieldA");
SaveAsset(m_TraitDefinition, Path.Combine(k_TraitAssetsPath, "TraitA.asset"));
m_EnumDefinition = ScriptableObject.CreateInstance <EnumDefinition>();
m_EnumDefinition.CreateProperty <string>("ValueA");
m_EnumDefinition.CreateProperty <string>("ValueB");
m_EnumDefinition.CreateProperty <string>("ValueC");
SaveAsset(m_EnumDefinition, Path.Combine(k_EnumAssetsPath, "EnumA.asset"));
SetupTerminationDefinition("TerminationA.asset");
SetupActionDefinition("ActionA.asset");
m_ProblemDefinition = ScriptableObject.CreateInstance <ProblemDefinition>();
m_ProblemDefinition.ActionDefinitions = new[]
{
m_ActionDefinition
};
m_ProblemDefinition.StateTerminationDefinitions = new[]
{
m_StateTerminationDefinition
};
SaveAsset(m_ProblemDefinition, Path.Combine(k_AssetsPath, "PlanA.asset"));
PlannerAssetDatabase.Refresh(new [] { Path.Combine("Assets", "Temp") });
}
private void OnProblemSelected(ProblemDefinition currentQuestion)
{
_problemCoroutine = currentQuestion;
_currentProblem = (currentQuestion.problem);
_currentProblem.Process();
OnAnswerValueChange?.Invoke(_currentProblem.Answer);
_instantiatedModels = new GameObject[currentQuestion.models.Length];
if (currentQuestion.environment != null)
{
_instantiatedEnvironment = Instantiate(currentQuestion.environment, transform);
}
if (OnUnitChange != null)
{
OnUnitChange.Invoke(currentQuestion.unit);
}
for (var i = 0; i < currentQuestion.models.Length; i++)
{
var model = currentQuestion.models[i];
if (model != null)
{
_instantiatedModels[i] = Instantiate(model, transform);
}
}
UpdatePosition(0);
StartCoroutine(nameof(OnUpdateModelsDetails));
}
public virtual void setProblemDefinition(ProblemDefinition pdef)
{
ompl_basePINVOKE.Planner_setProblemDefinition(swigCPtr, ProblemDefinition.getCPtr(pdef));
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
}
public bool use(ProblemDefinition pdef)
{
bool ret = ompl_basePINVOKE.PlannerInputStates_use__SWIG_0(swigCPtr, ProblemDefinition.getCPtr(pdef));
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public ProblemDefinition c_clone()
{
global::System.IntPtr cPtr = ompl_basePINVOKE.ProblemDefinition_c_clone(swigCPtr);
ProblemDefinition ret = (cPtr == global::System.IntPtr.Zero) ? null : new ProblemDefinition(cPtr, true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public ProblemDefinition getProblemDefinition()
{
global::System.IntPtr cPtr = ompl_geometricPINVOKE.SimpleSetup_getProblemDefinition__SWIG_0(swigCPtr);
ProblemDefinition ret = (cPtr == global::System.IntPtr.Zero) ? null : new ProblemDefinition(cPtr, true);
if (ompl_geometricPINVOKE.SWIGPendingException.Pending)
{
throw ompl_geometricPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
private static void makeAndSaveProblemDefinition()
{
var pd = new ProblemDefinition();
/* Add a design space descriptor so that optimizatoin
* methods for discrete variables can be used. Here we
* make a very generous discretization, which amounts
* to 2 million steps in each of the 2 design variables. */
var dsd = new DesignSpaceDescription(2);
for (var i = 0; i < 2; i++)
{
dsd[i] = new VariableDescriptor(-5000, 5000, 100.0);
}
pd.Add(dsd);
/* Add three convergence criteria */
pd.Add(new DeltaXConvergence(0.0001));
pd.Add(new MaxAgeConvergence(100, 0.000000001));
pd.Add(new MaxFnEvalsConvergence(50000));
pd.Add(new MaxSpanInPopulationConvergence(1));
/* setting the number of convergence criteria needed is not necessary
* since we will be using the default value of 1. Interesting to un-
* comment the next line and see how it affects the process. */
//pd.NumConvergeCriteriaNeeded = 2;
/* Add the objective function. */
var objfn = new polynomialObjFn();
objfn.Add("x1^2");
objfn.Add("x2^2");
objfn.Add("-2*x1");
objfn.Add("-10*x2");
objfn.Add("26");
/* this is a simple parabola center at {1, 5} */
pd.Add(objfn);
var g1 = new polynomialInequality();
g1.Add("-x1");
g1.Add("x2"); /* this inequality translates to x2 - x1 < 0
* of simply x1 > x2. */
pd.Add(g1);
pd.Add(new double[] { 1500.0, 700.0 });
var stream = new FileStream(filename, FileMode.Create);
pd.SaveProbToXml(stream);
}
void GenerateSystemsProvider(ProblemDefinition definition, string planName, string outputPath)
{
var customCumulativeRewardEstimator = definition.CustomCumulativeRewardEstimator;
var rewardEstimatorTypeName = string.IsNullOrEmpty(customCumulativeRewardEstimator) ? "DefaultCumulativeRewardEstimator" : $"global::{customCumulativeRewardEstimator}";
var result = m_CodeRenderer.RenderTemplate(PlannerResources.instance.TemplateSystemsProvider, new
{
@namespace = $"{TypeHelper.PlansQualifier}.{planName}",
plan_name = definition.Name,
heuristic = rewardEstimatorTypeName,
state_representation_qualifier = TypeHelper.StateRepresentationQualifier
});
SaveToFile(Path.Combine(outputPath, TypeHelper.PlansQualifier, planName, "PlannerSystemsProvider.cs"), result);
}
public void Initialize(ProblemDefinition problemDefinition, string planningSimulationWorldName)
{
var world = new World(planningSimulationWorldName);
var stateManager = world.GetOrCreateSystem <StateManager>();
world.GetOrCreateSystem <SimulationSystemGroup>().AddSystemToUpdateList(stateManager);
var playerLoop = UnityEngine.LowLevel.PlayerLoop.GetCurrentPlayerLoop();
ScriptBehaviourUpdateOrder.AddWorldToPlayerLoop(world, ref playerLoop);
m_StateConverter = new PlannerStateConverter <TraitBasedObject, StateEntityKey, StateData, StateDataContext, StateManager>(problemDefinition, stateManager);
m_Scheduler = new PlannerScheduler <StateEntityKey, ActionKey, StateManager, StateData, StateDataContext, ActionScheduler, DefaultCumulativeRewardEstimator, TerminationEvaluator, DestroyStatesJobScheduler>();
m_Scheduler.Initialize(stateManager, new DefaultCumulativeRewardEstimator(), new TerminationEvaluator(), problemDefinition.DiscountFactor);
m_Executor = new Match3PlanExecutor(stateManager, m_StateConverter);
// Ensure planning jobs are not running when destroying the state manager
stateManager.Destroying += () => m_Scheduler.CurrentJobHandle.Complete();
}
public async Task <ActionResult <Solution> > Post([FromBody] ProblemDefinition definition)
{
var problemConfiguration = _mapper.Map <ProblemConfiguration>(definition);
var username = Request.HttpContext.User.Identity.Name;
try
{
var problemSolution = _solverService.Solve(problemConfiguration);
if (problemSolution.HasOptimalSolution)
{
await _problemSolutionService.Save(problemSolution, username);
}
var res = _mapper.Map <Solution>(problemSolution);
return(res);
}
catch (Exception e)
{
throw new Exception(e.Message);
}
}
void GenerateActionScheduler(ProblemDefinition definition, string planName, string outputPath)
{
int maxArgs = 0;
foreach (var action in definition.ActionDefinitions)
{
if (action != null)
{
maxArgs = Math.Max(maxArgs, action.Parameters.Count());
}
}
var result = m_CodeRenderer.RenderTemplate(PlannerResources.instance.TemplateActionScheduler, new
{
@namespace = $"{TypeHelper.PlansQualifier}.{planName}",
plan_name = definition.Name,
actions = definition.ActionDefinitions,
num_actions = definition.ActionDefinitions.Count(),
num_args = maxArgs,
state_representation_qualifier = TypeHelper.StateRepresentationQualifier
});
SaveToFile(Path.Combine(outputPath, TypeHelper.PlansQualifier, planName, "ActionScheduler.cs"), result);
}
public override double[] Evaluate(Individual individual, IRandom random)
{
return(ProblemDefinition.Evaluate(individual, random));
}
private void FillList(ProblemDefinition currentProblem)
{
_inputList.Clear();
switch (currentProblem.problem)
{
case DoubleMU problem:
_inputList.Add(new InputData()
{
title = "Posição Inicial de A:", value = problem.initialPosition, unit = currentProblem.unit
});
_inputList.Add(new InputData()
{
title = "Velocidade de A:", value = problem.velocity, unit = currentProblem.velocityUnit
});
_inputList.Add(new InputData()
{
title = "Posição Inicial de B:", value = problem.initialPositionB, unit = currentProblem.unit
});
_inputList.Add(new InputData()
{
title = "Velocidade de B", value = problem.velocityB, unit = currentProblem.velocityUnit
});
break;
case SimpleMU problem:
_inputList.Add(new InputData()
{
title = "Posição inicial:", value = problem.initialPosition, unit = currentProblem.unit
});
_inputList.Add(new InputData()
{
title = "Velocidade:", value = problem.velocity, unit = currentProblem.velocityUnit
});
break;
case SimpleMUV problem:
_inputList.Add(new InputData()
{
title = "Posição inicial:", value = problem.initialPosition, unit = currentProblem.unit
});
_inputList.Add(new InputData()
{
title = "Velocidade inicial:", value = problem.initialVelocity, unit = currentProblem.velocityUnit
});
_inputList.Add(new InputData()
{
title = "Aceleração:", value = problem.acceleration, unit = currentProblem.velocityUnit + "²"
});
break;
case SimpleOT problem:
_inputList.Add(new InputData()
{
title = "Posição inicial X:", value = problem.initialPosition.x, unit = currentProblem.unit
});
_inputList.Add(new InputData()
{
title = "Posição inicial Y:", value = problem.initialPosition.y, unit = currentProblem.unit
});
_inputList.Add(new InputData()
{
title = "Velocidade Modular inicial:", value = problem.initialVelocity, unit = currentProblem.velocityUnit
});
_inputList.Add(new InputData()
{
title = "Ângulo de Lançamento:", value = problem.throwAngle, unit = "°"
});
_inputList.Add(new InputData()
{
title = "Aceleração da gravidade:", value = problem.gravity, unit = currentProblem.velocityUnit + "²"
});
break;
}
PrintList(_inputList);
}
public virtual SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t allocInformedStateSampler(ProblemDefinition probDefn, uint maxNumberCalls)
{
SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t ret = new SWIGTYPE_p_std__shared_ptrT_ompl__base__InformedSampler_t(ompl_basePINVOKE.OptimizationObjective_allocInformedStateSampler(swigCPtr, ProblemDefinition.getCPtr(probDefn), maxNumberCalls), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static PlannerTerminationCondition exactSolnPlannerTerminationCondition(ProblemDefinition pdef)
{
PlannerTerminationCondition ret = new PlannerTerminationCondition(ompl_basePINVOKE.exactSolnPlannerTerminationCondition(ProblemDefinition.getCPtr(pdef)), true);
if (ompl_basePINVOKE.SWIGPendingException.Pending)
{
throw ompl_basePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(ProblemDefinition obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public override IEnumerable <Individual> GetNeighbors(Individual individual, IRandom random)
{
return(ProblemDefinition.GetNeighbors(individual, random));
}
public override void Analyze(Individual[] individuals, double[][] qualities, ResultCollection results, IRandom random)
{
ProblemDefinition.Analyze(individuals, qualities, results, random);
}
private static void Main()
{
Parameters.Verbosity = VerbosityLevels.Normal;
// this next line is to set the Debug statements from OOOT to the Console.
Trace.Listeners.Add(new TextWriterTraceListener(Console.Out));
/* In this example, we first present how the details of an optimzation
* problem can be saved to an XML-file so that it can be read in
* and solved as opposed to defining all the details in an imperative
* (code line by code line) way. In the first function, the xml file
* name "test1.xml" is created. */
makeAndSaveProblemDefinition();
/* now we create a series of different optimization methods and test
* them on the problem. The problem is now opened from the file and
* the details are stored in an object of class "Problem Definition".*/
var stream = new FileStream(filename, FileMode.Open);
double[] xStar;
ProblemDefinition probTest1 = ProblemDefinition.OpenprobFromXml(stream);
abstractOptMethod opty;
/******************Exhaustive Search ***********************/
//SearchIO.output("******************Exhaustive Search ***********************");
//Console.ReadKey();
//opty = new ExhaustiveSearch(probTest1.SpaceDescriptor, optimize.minimize);
//opty.Add(probTest1);
///* No convergence criteria is needed as the process concludes when all
// * states have been visited but for this problem that is 4 trillion states.*/
//opty.ConvergenceMethods.Clear();
///* if you DID KNOW the best, you can include a criteria like...*/
//opty.ConvergenceMethods.Add(new ToKnownBestXConvergence(new[] { 3.0, 3.0 }, 0.0000001));
//var timer = Stopwatch.StartNew();
//var fStar = opty.Run(out xStar);
///* you probably will never see this process complete. Even with the added
// * convergence criteria (which is not factored into the estimated time of
// * completion), you are probably looking at 1 to 2 years. */
//printResults(opty, xStar, fStar, timer);
/***********Gradient Based Optimization with Steepest Descent****************/
//SearchIO.output("***********Gradient Based Optimization with Steepest Descent****************");
//Console.ReadKey();
//opty = new GradientBasedOptimization();
//opty.Add(probTest1);
//abstractSearchDirection searchDirMethod = new SteepestDescent();
//opty.Add(searchDirMethod);
////abstractLineSearch lineSearchMethod = new ArithmeticMean(0.0001, 1, 100);
////abstractLineSearch lineSearchMethod = new DSCPowell(0.0001, 1, 100);
//abstractLineSearch lineSearchMethod = new GoldenSection(0.0001, 1);
//opty.Add(lineSearchMethod);
//opty.Add(new squaredExteriorPenalty(opty, 10));
///* since this is not a population-based optimization method, we need to remove the MaxSpan criteria. */
//opty.ConvergenceMethods.RemoveAll(a => a is MaxSpanInPopulationConvergence);
//timer = Stopwatch.StartNew();
//fStar = opty.Run(out xStar);
//printResults(opty, xStar, fStar, timer);
///***********Gradient Based Optimization with Fletcher-Reeves****************/
//SearchIO.output("***********Gradient Based Optimization with Fletcher-Reeves****************");
//Console.ReadKey();
///* we don't need to reset (invoke the constructor) for GradientBasedOptimization since we are only
// * change the seaach direction method. */
//searchDirMethod = new FletcherReevesDirection();
///* you could also try the remaining 3 search direction methods. */
////searchDirMethod = new CyclicCoordinates();
////searchDirMethod = new BFGSDirection();
////searchDirMethod = new PowellMethod(0.001, 6);
//opty.Add(searchDirMethod);
//timer = Stopwatch.StartNew();
//opty.ResetFunctionEvaluationDatabase();
//fStar = opty.Run(out xStar);
//printResults(opty, xStar, fStar, timer);
///******************Generalized Reduced Gradient***********************/
//SearchIO.output("******************Generalized Reduced Gradient***********************");
//Console.ReadKey();
//opty = new GeneralizedReducedGradientActiveSet();
//opty.Add(probTest1);
//opty.Add(new squaredExteriorPenalty(opty, 10));
//opty.ConvergenceMethods.RemoveAll(a => a is MaxSpanInPopulationConvergence);
//timer = Stopwatch.StartNew();
//fStar = opty.Run(out xStar);
//printResults(opty, xStar, fStar, timer);
/* GRG is the ONLY one here that handles constraints explicity. It find the
* optimal very quickly and accurately. However, many of the other show a
* better value of f*, this is because they are using an imperfect penalty
* function (new squaredExteriorPenalty(opty, 10)). While it seems that GRG
* includes it as well, it is only used in the the line search method. */
/******************Random Hill Climbing ***********************/
probTest1.SpaceDescriptor = new DesignSpaceDescription(new[] { new VariableDescriptor(-5000, 5000, 0.1),
new VariableDescriptor(-5000, 5000, 0.1) });
SearchIO.output("******************Random Hill Climbing ***********************");
Console.ReadKey();
opty = new HillClimbing();
opty.Add(probTest1);
opty.Add(new squaredExteriorPenalty(opty, 8));
opty.Add(new RandomNeighborGenerator(probTest1.SpaceDescriptor));
opty.Add(new KeepSingleBest(optimize.minimize));
opty.ConvergenceMethods.RemoveAll(a => a is MaxSpanInPopulationConvergence);
/* the deltaX convergence needs to be removed as well, since RHC will end many iterations
* at the same point it started. */
opty.ConvergenceMethods.RemoveAll(a => a is DeltaXConvergence);
var timer = Stopwatch.StartNew();
var fStar = opty.Run(out xStar);
printResults(opty, xStar, fStar, timer);
/******************Exhaustive Hill Climbing ***********************/
SearchIO.output("******************Exhaustive Hill Climbing ***********************");
Console.ReadKey();
/* Everything else about the Random Hill Climbing stays the same. */
opty.Add(new ExhaustiveNeighborGenerator(probTest1.SpaceDescriptor));
timer = Stopwatch.StartNew();
fStar = opty.Run(out xStar);
printResults(opty, xStar, fStar, timer);
/******************Simulated Annealing***********************/
SearchIO.output("******************Simulated Annealing***********************");
Console.ReadKey();
opty = new SimulatedAnnealing(optimize.minimize);
opty.Add(probTest1);
opty.Add(new squaredExteriorPenalty(opty, 10));
opty.Add(new RandomNeighborGenerator(probTest1.SpaceDescriptor, 100));
opty.Add(new SACoolingSangiovanniVincentelli(100));
opty.ConvergenceMethods.RemoveAll(a => a is MaxSpanInPopulationConvergence);
/* the deltaX convergence needs to be removed as well, since RHC will end many iterations
* at the same point it started. */
opty.ConvergenceMethods.RemoveAll(a => a is DeltaXConvergence);
timer = Stopwatch.StartNew();
fStar = opty.Run(out xStar);
printResults(opty, xStar, fStar, timer);
}