/// <summary>
/// Creates a new connection from this node to target node via a new link
/// </summary>
/// <param name="target">TWEANNNode to link to</param>
/// <param name="weight">Synaptic weight between the nodes</param>
/// <param name="innovation">Innovation number of new link</param>
/// <param name="recurrent">Whether or not the link is recurrent</param>
/// <param name="frozen">Whether or not the link can be changed</param>
public void Connect(TWEANNNode target, float weight, long innovation, bool recurrent, bool frozen)
{
TWEANNLink link = new TWEANNLink(target, weight, innovation, recurrent, frozen);
//Debug.Log("Adding link from " + GetInnovationID() + " to " + target.GetInnovationID());
outputs.Add(link);
}
/// <summary>
/// Create a new random TWEANN
/// </summary>
/// <param name="numInputs">Number of input sensors</param>
/// <param name="numOutputs">Number of policy neurons per node</param>
/// <param name="featureSelective">If true, nerons are only sparsely connected, fully connected otherwise</param>
/// <param name="fType">Type of activation function on neurons</param>
/// <param name="archetypeIndex">Archtype to align with for crossover</param>
public TWEANN(int numInputs, int numOutputs, bool featureSelective, FTYPE fType, int archetypeIndex)
{
this.numInputs = numInputs;
this.numOutputs = numOutputs;
ArchetypeIndex = archetypeIndex;
nodes = new List <TWEANNNode>(numInputs + numOutputs);
long innovation = -1;
for (int i = 0; i < numInputs; i++)
{
TWEANNNode n = new TWEANNNode(fType, NTYPE.INPUT, innovation--);
nodes.Add(n);
}
long linkInnovationBound = innovation - 1;
for (int j = 0; j < numOutputs; j++)
{
nodes.Add(new TWEANNNode(fType, NTYPE.OUTPUT, innovation--));
int[] inputSources = new int[numInputs]; // HACK making this be fully connected for now
for (int i = 0; i < numInputs; i++)
{
inputSources[i] = i;
}
for (int k = 0; k < inputSources.Length; k++)
{
nodes[inputSources[k]].Connect(nodes[numInputs + j], RandomGenerator.NextGaussian(), linkInnovationBound - (j * numInputs) - inputSources[k], false, false);
}
}
int outputStart = nodes.Count - numOutputs;
}
public TWEANN(TWEANNGenotype g)
{
Running = true;
ArchetypeIndex = g.GetArchetypeIndex();
nodes = new List <TWEANNNode>(g.Nodes.Count);
int countIn = 0, countOut = 0;
if (ArtGallery.DEBUG_LEVEL > ArtGallery.DEBUG.NONE)
{
Debug.Log("Starting TWEANNNodes build...");
}
foreach (NodeGene node in g.Nodes)
{
TWEANNNode tempNode = new TWEANNNode(node.fTYPE, node.nTYPE, node.Innovation, false, node.GetBias());
nodes.Add(tempNode);
if (node.nTYPE == NTYPE.INPUT)
{
countIn++;
}
else if (node.nTYPE == NTYPE.OUTPUT)
{
countOut++;
}
}
numInputs = countIn;
numOutputs = countOut;
if (ArtGallery.DEBUG_LEVEL > ArtGallery.DEBUG.NONE)
{
Debug.Log("Starting TWEANNLinks build...");
}
foreach (LinkGene link in g.Links)
{
TWEANNNode source = GetNodeByInnovationID(link.GetSourceInnovation());
TWEANNNode target = GetNodeByInnovationID(link.GetTargetInnovation());
if (source == null)
{
throw new System.Exception("Source not found with innovation " + link.GetSourceInnovation() + " : " + ToString());
}
if (target == null)
{
throw new System.Exception("Target not found with innovation " + link.GetTargetInnovation() + " : " + ToString());
}
source.Connect(target, link.GetWeight(), link.Innovation, false, false);
}
if (ArtGallery.DEBUG_LEVEL > ArtGallery.DEBUG.NONE)
{
Debug.Log("TWEANN build from TWEANNGenotype completed");
}
Running = false;
}
/// <summary>
/// Make a new link to target node
/// </summary>
/// <param name="target">TWEANNNode that link leads to</param>
/// <param name="weight">Synaptic weight</param>
/// <param name="innovation">Innovation number of the link</param>
/// <param name="recurrent">Whether the link is recurrent</param>
/// <param name="frozen">Whenter the link is frozen</param>
public TWEANNLink(TWEANNNode target, float weight, long innovation, bool recurrent, bool frozen)
{
if (target != null)
{
this.target = target;
}
else
{
throw new System.ArgumentException("Target can not be null");
}
this.weight = weight;
this.innovation = innovation;
this.recurrent = recurrent;
this.frozen = frozen;
}
public TWEANNLink GetLinkToTargetNode(TWEANNNode targetNode)
{
TWEANNLink result = null;
foreach (TWEANNLink link in outputs)
{
if (link.GetTarget() == targetNode)
{
result = link;
}
else
{
throw new System.ArgumentException("No link to node found!");
}
}
return(result);
}
private TWEANNNode GetNodeByInnovationID(long innovationID)
{
TWEANNNode result = null;
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i].GetInnovation() == innovationID)
{
result = nodes[i];
}
else
{
//throw new System.ArgumentException("No node found with innovationID " + innovationID);
}
}
return(result);
}