void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
if (!(ip.timeSteps % (int)(1 / ip.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
bool all_in = true;
double a_accum = 0.00000001;
double a_saccum = 0.00000001;
foreach (Robot r in ip.robots)
{
if (!r.autopilot)
{
foreach (ISensor s in r.sensors)
{
if (s is SignalSensor)
{
SignalSensor ss = (SignalSensor)s;
double val = ss.get_value();
val += 0.05;
if (val > 1.0)
{
val = 1.0;
}
ss.setSignal(val);
}
}
}
if ((environment.AOIRectangle.Contains((int)r.location.x, (int)r.location.y)))
{
a_accum += 1.0 / (nearest(ip, r, environment));
if (r.corrected)
{
a_saccum += nearest(ip, r, environment);
}
//else
// a_saccum+=1.0;
}
else
{
all_in = false;
}
}
if (all_in)
{
accum += ((double)ip.robots.Count) / (a_accum);
stopaccum += a_saccum / ((double)ip.robots.Count);
}
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
grid = ((GridCollision)(ip.collisionManager)).grid;
if (!(ip.timeSteps % (int)(1 / Experiment.timestep) == 0))
{
return;
}
int dim = grid.coarseness;
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
if ((environment.AOIRectangle.Contains(gx, gy)))
{
accum += grid.grid[x, y].viewed;
stop_accum += grid.grid[x, y].viewed2;
}
}
}
foreach (Robot r in ip.robots)
{
if (!r.autopilot)
{
foreach (ISensor s in r.sensors)
{
if (s is SignalSensor)
{
SignalSensor ss = (SignalSensor)s;
double val = ss.get_value();
val += 0.05;
if (val > 1.0)
{
val = 1.0;
}
ss.setSignal(val);
}
}
}
}
grid.decay_viewed(0);
//grid.decay_viewed(.95);
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
if (!(Experiment.timeSteps % (int)(1 / Experiment.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
foreach (Robot r in ip.robots)
{
if (!r.autopilot)
{
foreach (ISensor s in r.sensors)
{
if (s is SignalSensor)
{
SignalSensor ss = (SignalSensor)s;
double val = ss.get_value();
val += 0.05;
if (val > 1.0)
{
val = 1.0;
}
ss.setSignal(val);
}
}
}
}
double x1 = (double)environment.AOIRectangle.Left;
double y1 = (double)environment.AOIRectangle.Top;
double x2 = (double)environment.AOIRectangle.Right;
double y2 = (double)environment.AOIRectangle.Bottom;
int steps = 10;
accum += test_interpolation(ip, x1, y1, x2, y1, steps);
accum += test_interpolation(ip, x2, y1, x2, y2, steps);
accum += test_interpolation(ip, x2, y2, x2, y1, steps);
accum += test_interpolation(ip, x2, y1, x1, y1, steps);
}
