private double Phi(Data data, Paramater param, DataType type)
{
double[] vector;
switch (type)
{
case DataType.WithoutPosition:
vector = new double[]
{
(data.ForwardDistance - param.M[0]),
(data.LeftDistance - param.M[1]),
(data.RightDistance - param.M[2])
};
break;
case DataType.WithPosition:
vector = new double[]
{
(data.X - param.M[0]),
(data.Y - param.M[1]),
(data.ForwardDistance - param.M[2]),
(data.LeftDistance - param.M[3]),
(data.RightDistance - param.M[4])
};
break;
default:
throw new ArgumentException();
}
double vectorDistancePower2 = CalculateDistancePower2(vector);
double result = Math.Exp(-1 * vectorDistancePower2 / (2 * Math.Pow(param.Sigma, 2)));
return(result);
}
public Paramater Clone()
{
Paramater p = new Paramater()
{
W = W,
Sigma = Sigma
};
for (int i = 0; i < M.Count; i++)
{
p.M.Add(M[i]);
}
return(p);
}
public void Crossover(Paramater other, bool far, int crossoverBit)
{
switch (far)
{
case false:
if (crossoverBit == 0)
{
var nums = CrossoverClose(Sigma, other.Sigma);
Sigma = nums.Item1;
other.Sigma = nums.Item2;
}
else if (crossoverBit == 1)
{
var nums = CrossoverClose(W, other.W);
W = nums.Item1;
other.W = nums.Item2;
}
else
{
int i = crossoverBit - 2;
var nums = CrossoverClose(M[i], other.M[i]);
if (nums.Item1 > _MaxM)
{
M[i] = _MaxM * rand.NextDouble();
}
else if (nums.Item1 < _MinM)
{
M[i] = rand.NextDouble();
}
else
{
M[i] = nums.Item1;
}
if (nums.Item2 > _MaxM)
{
other.M[i] = _MaxM * rand.NextDouble();
}
else if (nums.Item1 < _MinM)
{
other.M[i] = rand.NextDouble();
}
else
{
other.M[i] = nums.Item2;
}
}
break;
case true:
if (crossoverBit == 0)
{
var nums = CrossoverFar(Sigma, other.Sigma);
Sigma = nums.Item1;
other.Sigma = nums.Item2;
}
else if (crossoverBit == 1)
{
var nums = CrossoverFar(W, other.W);
W = nums.Item1;
other.W = nums.Item2;
}
else
{
int i = crossoverBit - 2;
var nums = CrossoverFar(M[i], other.M[i]);
if (nums.Item1 > _MaxM)
{
M[i] = _MaxM * rand.NextDouble();
}
else if (nums.Item1 < _MinM)
{
M[i] = rand.NextDouble();
}
else
{
M[i] = nums.Item1;
}
if (nums.Item2 > _MaxM)
{
other.M[i] = _MaxM * rand.NextDouble();
}
else if (nums.Item1 < _MinM)
{
other.M[i] = rand.NextDouble();
}
else
{
other.M[i] = nums.Item2;
}
}
break;
}
}
