The base common class that evaluate the fitness of a robot. More...

Inheritance diagram for EvoRobotExperiment:

Public Types
enum	Phases { INTEST, INEVOLUTION, NONE }
	this type define the phase of which the EvoRobotExperiment More...

Public Types inherited from ParameterSettable
enum	Property

Public Types inherited from ResourcesUser
typedef Resource::ResourceChangeType	ResourceChangeType

Public Types inherited from Resource
enum	ResourceChangeType

Public Slots
int	getStepDelay ()
	returns the current delay applied at each step More...

float	getWorldTimeStep () const
	helper method for getting timestep of the world at runtime More...

void	setStepDelay (int delay)
	set the delay to apply at each step for slowing down the simulation More...

Public Member Functions
	EvoRobotExperiment ()
	Constructor. More...

virtual	~EvoRobotExperiment ()
	Destructor. More...

virtual void	afterSensorsUpdate ()
	Called just after the updating of sensors and before the updating of the neural network. More...

bool	agentEnabled (int agentId)
	Returns true if the agent is enabled, false otherwise. More...

virtual void	beforeMotorsUpdate ()
	Called just before the updating of motors and after the updating of the neural network. More...

virtual void	beforeWorldAdvance ()
	Called just before the world advances, after the update of motors. More...

virtual void	configure (ConfigurationParameters &params, QString prefix)
	Configures the object using a ConfigurationParameters object. More...

void	disableAgent (int agentId)
	Disables the i-th agent. More...

void	doAllTrialsForIndividual (int individual)
	Performs all trials for the given individual. More...

void	enableAgent (int agentId)
	Enables the i-th agent. More...

virtual void	endGeneration (int generation)
	Called at the end of a generation. This function is NEVER called concurrently on different objects. More...

virtual void	endIndividual (int individual)
	Called at the end of an individual's life. More...

void	endIndividualLife ()
	Ends the invidual life. More...

virtual void	endStep (int step)=0
	Called at the end of the step. More...

virtual void	endTrial (int trial)
	Called at the end of a trial. More...

Phases	getActivityPhase ()
	return the state of the EvoRobotExperiment More...

Arena *	getArena ()
	Returns the arena. This can returns NULL if no arena object is present. More...

int	getCurStep () const
	Returns the current step. More...

int	getCurTrial () const
	Returns the current trial. More...

double	getError ()
	return the current value of the error More...

Evoga *	getEvoga ()
	Return the pointer to the Evoga setted. More...

double	getFitness ()
	return the current value of the fitness More...

int	getGenomeLength ()
	Returns the length of the genome. More...

Motor *	getMotor (QString motorName, int agentId=0)
	Return a pointer to the Motor with name specified. More...

int	getNAgents ()
	return the number of agents present in the experiment More...

Evonet *	getNeuralNetwork (int agentId=0)
	Return the neural network used for the experiment. More...

int	getNSteps () const
	Returns the number of steps. More...

int	getNTrials () const
	Returns the number of trials. More...

Sensor *	getSensor (QString sensorName, int agentId=0)
	Return a pointer to the Sensor with name specified. More...

bool	inBatchRunning ()
	Return true if the simulation is running in batch modality, false if is running with the GUI. More...

virtual void	initGeneration (int generation)
	Called at the beginning of a generation. This function is NEVER called concurrently on different objects. More...

virtual void	initIndividual (int individual)
	Called at the beginning of an individual's life. More...

virtual void	initStep (int step)
	Initialize whatever at step granularity when needed. More...

virtual void	initTrial (int trial)

void	newGASeed (int seed)
	Called by the ga when the seed changes (e.g. in a new replication) More...

virtual void	postConfigureInitialization ()
	This function is called after all linked objects have been configured. More...

void	restartTrial ()
	Stops the current trial and restarts it from scratch. More...

virtual void	save (ConfigurationParameters &params, QString prefix)
	Save the actual status of parameters into the ConfigurationParameters object passed. More...

bool	selectAgent (int agentId)
	select the i-the agent and make available the corresponding resources More...

void	setActivityPhase (Phases newPhase)
	set the new activity phase More...

void	setEvoga (Evoga *ga)
	Set the Evoga on which this EvoRobotExperiment is used. More...

virtual void	setNetParameters (float *genes)
	Sets the free parameters of the neural network. This is done for all agents, even disabled ones. More...

virtual void	setNetParameters (int *genes)
	Sets the free parameters of the neural network. This is done for all agents, even disabled ones. More...

void	setNSteps (int new_nsteps)
	Sets the number of steps. More...

void	setNTrials (int new_ntrials)
	Sets the number of trials. More...

virtual void	setTestingAgentAndSeed (int idindividual, int nreplica)
	called by AbstractTest and subclasses to inform which individual is going to test More...

void	skipTrial ()
	Skips the next trial. More...

void	stopTrial ()
	Stops the current trial. More...

Public Member Functions inherited from ParameterSettable
void	addObserver (RuntimeParameterObserver *obs)

T	getRuntimeParameter (QString paramName)

virtual ParameterSettableUI *	getUIManager ()

void	removeObserver (RuntimeParameterObserver *obs)

void	setRuntimeParameter (QString paramName, T newvalue)

QString	typeName () const

Public Member Functions inherited from ConcurrentResourcesUser
void	addUsableResource (QString resource)

void	addUsableResources (QStringList resources)

void	declareResource (QString name, T *resource, QString lockBuddy="")

void	deleteResource (QString name)

T *	getResource (QString name, bool *resourceExists=NULL)

bool	hasResource (QString name) const

void	removeAllUsableResources ()

void	removeUsableResource (QString resource)

void	removeUsableResources (QStringList resources)

virtual void	shareResourcesWith (ResourcesUser *buddy)

void	usableResources (QStringList resources)

bool	usedResourcesExist (QStringList *nonExistingResources=NULL) const

Static Public Member Functions
static void	describe (QString type)
	Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups. More...

Static Public Member Functions inherited from ParameterSettable
static void	describe (QString type)

static QString	fullParameterDescriptionPath (QString type, QString param)

static QString	fullSubgroupDescriptionPath (QString type, QString sub)

Public Attributes
QVector< int * >	m_weightIndividual
	Added by Jonata for the SpecializerSteadyState GA. More...

Public Attributes inherited from ParameterSettable
	AllowMultiple

	Default

	IsList

	IsMandatory

Protected Member Functions
RandomGenerator *	getRNG ()
	Returns the random generator. More...

void	recreateAllNeuralNetworks ()
	Recreates all neural networks. More...

void	recreateAllRobots ()
	Recreates all robots. More...

void	recreateArena ()
	Recreates the arena. More...

void	recreateNeuralNetwork (int agentId=0)
	Recreate the neural network. More...

bool	recreateRobot (int agentId=0)
	Recreate the robot. More...

void	recreateWorld ()
	current trial More...

Protected Member Functions inherited from ParameterSettable
void	notifyChangesToParam (QString paramName)

Protected Member Functions inherited from ConcurrentResourcesUser
T *	getResource ()

virtual void	resourceChanged (QString name, ResourceChangeType changeType)

Protected Member Functions inherited from ResourcesUser
	ResourcesUser (const ResourcesUser &other)

virtual void	notifyResourceChange (ResourceHandler *resource, ResourceChangeType changeType)=0

ResourcesUser &	operator= (const ResourcesUser &other)

Protected Attributes
int	nstep
	number of cycles More...

int	nsteps
	number of test More...

int	ntrial
	current step More...

int	ntrials

ConfigurationParameters *	savedConfigurationParameters

const QString *	savedPrefix

double	totalErrorValue
	the error of the individual all over the trials More...

double	totalFitnessValue
	the fitness value of the individual all over the trials More...

double	trialErrorValue
	the error of the individual during the execution of one trial More...

double	trialFitnessValue
	the fitness value of the individual during the execution of one trial More...

Protected Attributes inherited from ResourcesUser
ResourceCollectionHolder	m_resources

Additional Inherited Members
Static Public Attributes inherited from ParameterSettable
static const double	Infinity

static const int	MaxInteger

static const int	MinInteger

Static Protected Member Functions inherited from ParameterSettable
static Descriptor	addTypeDescription (QString type, QString shortHelp, QString longHelp=QString(""))

static void	setGraphicalEditor (QString type)

Detailed Description

The base common class that evaluate the fitness of a robot.

This class don't actually implement any particular scenario or fitness function. The user must subclass from this, and provide the implementation for the necessary methods for setting up his scenario and fitness function.

The main assumption that cannot be changed in the subclasses are:

the robot and the environment are a simulated physic world (Worldsim::World).
the controller is a neural network
the fitness is computed evaluating the robot over a set of trials

The methods that can be re-implemented in order to setup a scenario and a fitness function are:

initGeneration
initIndividual
initTrial
initStep
afterSensorsUpdate
beforeMotorsUpdate
endStep (this is pure virtual, so it MUST be re-implemented)
endTrial
endIndividual

endGeneration In the most common cases, you need to re-implment just few of them but they are provided for fullfill almost any situations. The schema on which they are called during the evolution of individual is the following:

foreach generation do
    initGeneration
    foreach inidividual do
        initIndividual
        foreach trial do
            initTrial
            foreach step do
                initStep
                afterSensorsUpdate
                beforeMotorsUpdate
                endStep
            endTrial
        endIndividual
    endGeneration

In the most common case

The resources declared by this experiment are:

"evonet": the neural network
"neuronsIterator": the Neurons Iterator for iterate over neurons
"world": the physic world where the robot are simulated
"robot": the robot
"arena": if present, the arena with objects for wheeled robots simulations

Definition at line 155 of file evorobotexperiment.h.

Member Enumeration Documentation

enum Phases

this type define the phase of which the EvoRobotExperiment

Definition at line 343 of file evorobotexperiment.h.

Constructor & Destructor Documentation

EvoRobotExperiment ( )

Constructor.

Definition at line 54 of file evorobotexperiment.cpp.

References ConcurrentResourcesUser::usableResources().

~EvoRobotExperiment ( )

virtual

Destructor.

Definition at line 84 of file evorobotexperiment.cpp.

References ConcurrentResourcesUser::deleteResource().

Member Function Documentation

void afterSensorsUpdate ( )

virtual

Called just after the updating of sensors and before the updating of the neural network.

Note: useful, for example, to overwrite the inputs of the neural network (i.e.: to silence some neurons during the experiment withouth modifing sensors classes)

Definition at line 327 of file evorobotexperiment.cpp.

bool agentEnabled ( int agentId )

Returns true if the agent is enabled, false otherwise.

See the description of enableAgent() and disableAgent() for more information

Parameters

agentId the ID of the agent

Returns: true if the agent is enabled, false otherwise

Definition at line 496 of file evorobotexperiment.cpp.

void beforeMotorsUpdate ( )

virtual

Called just before the updating of motors and after the updating of the neural network.

Note: useful, for example, to overwrite the outputs of the neural network

Definition at line 331 of file evorobotexperiment.cpp.

void beforeWorldAdvance ( )

virtual

Called just before the world advances, after the update of motors.

Note: useful, for example, to manually actuate motors overriding the robot controller commands

Definition at line 335 of file evorobotexperiment.cpp.

void configure	(	ConfigurationParameters &	params,
		QString	prefix
	)

virtual

Configures the object using a ConfigurationParameters object.

This also creates and configures the neural network controlling the individual

Parameters

params	the configuration parameters object with parameters to use
prefix	the prefix to use to access the object configuration parameters. This is guaranteed to end with the separator character when called by the factory, so you don't need to add one

Implements ParameterSettableWithConfigureFunction.

Definition at line 108 of file evorobotexperiment.cpp.

References Arena::addRobots(), ConfigurationParameters::copyGroupTree(), ConfigurationParameters::createGroup(), ConcurrentResourcesUser::declareResource(), ConfigurationHelper::getBool(), ConfigurationHelper::getDouble(), ConfigurationParameters::getGroupsWithPrefixList(), ConfigurationHelper::getInt(), ConfigurationParameters::getValue(), farsa::globalRNG, Logger::info(), ParameterSettable::notifyChangesToParam(), EvoRobotExperiment::nsteps, EvoRobotExperiment::recreateArena(), EvoRobotExperiment::recreateWorld(), EvoRobotExperiment::selectAgent(), ConfigurationParameters::setResourcesUser(), and ConfigurationParameters::shareObserversWith().

void describe ( QString type )

static

Add to Factory::typeDescriptions() the descriptions of all parameters and subgroups.

Parameters

type is the name of the type regarding the description. The type is used when a subclass reuse the description of its parent calling the parent describe method passing the type of the subclass. In this way, the result of the method describe of the parent will be the addition of the description of the parameters of the parent class into the type of the subclass

Definition at line 196 of file evorobotexperiment.cpp.

References ParameterSettable::addTypeDescription(), ParameterSettable::AllowMultiple, ParameterSettable::RealDescriptor::def(), ParameterSettable::SubgroupDescriptor::describeReal(), EvoRobotExperiment::getNTrials(), EvoRobotExperiment::getWorldTimeStep(), ParameterSettable::RealDescriptor::help(), ParameterSettable::IsMandatory, ParameterSettable::MaxInteger, ParameterSettable::RealDescriptor::runtime(), and EvoRobotExperiment::setNTrials().

void disableAgent ( int agentId )

Disables the i-th agent.

When an agent is disnabled, sensors, motors and the neural network are not updated and the robot is destroyed

Parameters

agentId the id of the agent to disable

Warning: This function internally uses declareResource() to remove the robot resource, so it can only be called when the lock on resources is not held.

Definition at line 492 of file evorobotexperiment.cpp.

void doAllTrialsForIndividual ( int individual )

Performs all trials for the given individual.

Definition at line 242 of file evorobotexperiment.cpp.

References Evoga::commitStep(), EvoRobotExperiment::endIndividual(), EvoRobotExperiment::endTrial(), Evoga::getCurrentGeneration(), Evoga::getCurrentSeed(), Evoga::getNumReplications(), Logger::info(), EvoRobotExperiment::initIndividual(), EvoRobotExperiment::initTrial(), Evoga::isStopped(), farsa::msleep(), EvoRobotExperiment::ntrial, RandomGenerator::setSeed(), EvoRobotExperiment::totalFitnessValue, and EvoRobotExperiment::trialFitnessValue.

Referenced by Evoga::evolveGenerational(), Evoga::evolveSpecializerSteadyState(), Evoga::evolveSpecializerSteadyState2(), Evoga::evolveSteadyState(), EvaluatorThreadForEvoga::run(), EvaluatorThreadForXnes::run(), TestRandom::runTest(), TestIndividual::runTest(), TestCurrent::runTest(), and Evoga::xnes().

void enableAgent ( int agentId )

Enables the i-th agent.

When an agent is enabled, sensors, motors and the neural network are updated and the robot exists in the world

Parameters

agentId the id of the agent to enable

Warning: This function internally uses declareResource() to declare the robot resource, so it can only be called when the lock on resources is not held.

Definition at line 488 of file evorobotexperiment.cpp.

void endGeneration ( int generation )

virtual

Called at the end of a generation. This function is NEVER called concurrently on different objects.

Definition at line 349 of file evorobotexperiment.cpp.

Referenced by Evoga::evolveGenerational(), Evoga::evolveSpecializerSteadyState(), Evoga::evolveSpecializerSteadyState2(), Evoga::evolveSteadyState(), TestRandom::runTest(), TestIndividual::runTest(), TestCurrent::runTest(), and Evoga::xnes().

void endIndividual ( int individual )

virtual

Called at the end of an individual's life.

Definition at line 345 of file evorobotexperiment.cpp.

Referenced by EvoRobotExperiment::doAllTrialsForIndividual().

void endIndividualLife ( )

Ends the invidual life.

Call this function to end the life of the individual. This can only be called from initTrial(), initStep(), endStep() and endTrial(). When you call this function the current trial is stopped as if stopTrial() was called, so everthing said for the stopTrial() function also applies to this function when called inside initStep() or endStep(). If you call this function from initTrial() the trial is terminated immediately without calling any step function. After returning from initTrial(), endTrial() is called. In all cases the fitness for the last trial is taken into account. After the call to endTrial() endIndividual() is called as if the individual life ended normally. You should never mix calls to this functions with calls to stopTrial(), skipTrial() or restartTrial() during the same trial.

Definition at line 425 of file evorobotexperiment.cpp.

virtual void endStep ( int step )

pure virtual

Called at the end of the step.

void endTrial ( int trial )

virtual

Called at the end of a trial.

Note: the default implementation will add the current trialFitnessValue to totalFitnessValue

Definition at line 339 of file evorobotexperiment.cpp.

References EvoRobotExperiment::totalErrorValue, EvoRobotExperiment::totalFitnessValue, EvoRobotExperiment::trialErrorValue, and EvoRobotExperiment::trialFitnessValue.

Referenced by EvoRobotExperiment::doAllTrialsForIndividual().

Phases getActivityPhase ( )

inline

return the state of the EvoRobotExperiment

Definition at line 349 of file evorobotexperiment.h.

Arena* getArena ( )

inline

Returns the arena. This can returns NULL if no arena object is present.

Definition at line 335 of file evorobotexperiment.h.

int getCurStep ( ) const

inline

Returns the current step.

Returns: the current step

Definition at line 439 of file evorobotexperiment.h.

int getCurTrial ( ) const

inline

Returns the current trial.

Returns: the current trial

Definition at line 449 of file evorobotexperiment.h.

double getError ( )

return the current value of the error

Definition at line 322 of file evorobotexperiment.cpp.

References EvoRobotExperiment::totalErrorValue.

Referenced by EvaluatorThreadForXnes::run(), and Evoga::xnes().

Evoga * getEvoga ( )

Return the pointer to the Evoga setted.

Definition at line 512 of file evorobotexperiment.cpp.

double getFitness ( )

return the current value of the fitness

Definition at line 317 of file evorobotexperiment.cpp.

References EvoRobotExperiment::totalFitnessValue.

Referenced by Evoga::evolveGenerational(), Evoga::evolveSpecializerSteadyState(), Evoga::evolveSpecializerSteadyState2(), Evoga::evolveSteadyState(), EvaluatorThreadForEvoga::run(), EvaluatorThreadForXnes::run(), and Evoga::xnes().

int getGenomeLength ( )

Returns the length of the genome.

Definition at line 431 of file evorobotexperiment.cpp.

Referenced by TestRandom::buildRandomDNA(), and Evoga::postConfigureInitialization().

Motor * getMotor	(	QString	motorName,
		int	agentId = `0`
	)

Return a pointer to the Motor with name specified.

Parameters

name	is the name of the motor your are looking for
agentID	the id of the agent

Returns: a pointer to the motor or NULL is the sensor doesn't exists or the agent is disabled

Definition at line 450 of file evorobotexperiment.cpp.

References Logger::error().

int getNAgents ( )

return the number of agents present in the experiment

Definition at line 467 of file evorobotexperiment.cpp.

Evonet * getNeuralNetwork ( int agentId = 0 )

Return the neural network used for the experiment.

The pointer to the network is returned even if the agent is disabled

Parameters

agentID the id of the agent

Definition at line 500 of file evorobotexperiment.cpp.

Referenced by TestRandom::buildRandomDNA(), and Evoga::xnes().

int getNSteps ( ) const

inline

Returns the number of steps.

Returns: the number of steps

Definition at line 421 of file evorobotexperiment.h.

int getNTrials ( ) const

inline

Returns the number of trials.

Returns: the number of trials

Definition at line 403 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::describe().

RandomGenerator * getRNG ( )

protected

Returns the random generator.

You should use this function in experiments instead of using farsa::globalRNG because this returns the correct generator depending on whether the same random sequence should be generated for all individuals of the same generation or not. The actual seed for each individual in a given generation depends on the seed of the genetic algorithm, the current generation and the total number of replications (keep this in mind if you want to exactly replicate an experiment)

Returns: the random generator

Definition at line 654 of file evorobotexperiment.cpp.

Sensor * getSensor	(	QString	sensorName,
		int	agentId = `0`
	)

Return a pointer to the Sensor with name specified.

Parameters

name	is the name of the sensor your are looking for
agentID	the id of the agent

Returns: a pointer to the sensor or NULL is the sensor doesn't exists or the agent is disabled

Definition at line 438 of file evorobotexperiment.cpp.

References Logger::error().

int getStepDelay ( )

slot

returns the current delay applied at each step

Definition at line 679 of file evorobotexperiment.cpp.

float getWorldTimeStep ( ) const

slot

helper method for getting timestep of the world at runtime

Definition at line 666 of file evorobotexperiment.cpp.

Referenced by EvoRobotExperiment::describe().

bool inBatchRunning ( )

Return true if the simulation is running in batch modality, false if is running with the GUI.

Definition at line 462 of file evorobotexperiment.cpp.

void initGeneration ( int generation )

virtual

Called at the beginning of a generation. This function is NEVER called concurrently on different objects.

Definition at line 296 of file evorobotexperiment.cpp.

Referenced by Evoga::evolveGenerational(), Evoga::evolveSpecializerSteadyState(), Evoga::evolveSpecializerSteadyState2(), Evoga::evolveSteadyState(), TestRandom::runTest(), TestIndividual::runTest(), TestCurrent::runTest(), and Evoga::xnes().

void initIndividual ( int individual )

virtual

Called at the beginning of an individual's life.

Definition at line 300 of file evorobotexperiment.cpp.

Referenced by EvoRobotExperiment::doAllTrialsForIndividual().

void initStep ( int step )

virtual

Initialize whatever at step granularity when needed.

Definition at line 313 of file evorobotexperiment.cpp.

void initTrial ( int trial )

virtual

Called at the beginning of a trial. The default behaviour is to reset the neural network of all agents (even disabled ones)

Definition at line 304 of file evorobotexperiment.cpp.

Referenced by EvoRobotExperiment::doAllTrialsForIndividual().

void newGASeed ( int seed )

Called by the ga when the seed changes (e.g. in a new replication)

Parameters

seed	the new seed

Definition at line 670 of file evorobotexperiment.cpp.

References RandomGenerator::setSeed().

Referenced by Evoga::evolveGenerational(), Evoga::evolveSteadyState(), and Evoga::xnes().

void postConfigureInitialization ( )

virtual

This function is called after all linked objects have been configured.

Reimplemented from ParameterSettable.

Definition at line 212 of file evorobotexperiment.cpp.

References Evoga::doNotUseMultipleThreads().

void recreateAllNeuralNetworks ( )

protected

Recreates all neural networks.

This method simply calls recreateNeuralNetwork() for all agents' neural networks (even disabled ones)

Warning: it will destroy the neural network and create a new one.

Definition at line 648 of file evorobotexperiment.cpp.

References EvoRobotExperiment::recreateNeuralNetwork().

void recreateAllRobots ( )

protected

Recreates all robots.

This method simply calls recreateRobot() for all enabled agents

Warning: it will destroy all robots and create a new ones.

Definition at line 595 of file evorobotexperiment.cpp.

References EvoRobotExperiment::recreateRobot().

void recreateArena ( )

protected

Recreates the arena.

This methods creates an arena if the group Arena is in the ConfigurationParameters

Warning: this destroys the current arena and creates a new one

Definition at line 603 of file evorobotexperiment.cpp.

References Arena::addRobots(), ConcurrentResourcesUser::declareResource(), ConfigurationParameters::getObjectFromGroup(), ConfigurationHelper::hasGroup(), EvoRobotExperiment::recreateWorld(), ConfigurationParameters::setResourcesUser(), ConcurrentResourcesUser::shareResourcesWith(), and ResourcesLocker::unlock().

Referenced by EvoRobotExperiment::configure().

void recreateNeuralNetwork ( int agentId = 0 )

protected

Recreate the neural network.

Parameters

agentID the id of the agent having the neural network

This method helps in the creation of the Neural Network (only Evonet for now). It's strongly advised to use this method instead of creating a neural network by yourself. You can configure the neural network after this method accessing to the resource "evonet".

In case of collective experiment, the agentId allow to specify which neural network needs to be recreated

Warning: it will destroy the neural network and create a new one.

Note: This works also on disabled agents

Definition at line 638 of file evorobotexperiment.cpp.

References ConcurrentResourcesUser::declareResource().

Referenced by EvoRobotExperiment::recreateAllNeuralNetworks().

bool recreateRobot ( int agentId = 0 )

protected

Recreate the robot.

Parameters

agentID the id of the agent having the robot

This method helps in the creation of the Robot. It's strongly advised to use this method instead of creating a robot by yourself. You can configure the robot after having called this method accessing the resource "robot".

In case of collective experiment, the agentId allow to specify which robot needs to be recreated

Returns: false if the agent is disabled, true otherwise. If the agent is disabled, the robot is not created

Warning: it will destroy the robot and create a new one.

Definition at line 581 of file evorobotexperiment.cpp.

References ConcurrentResourcesUser::declareResource().

Referenced by EvoRobotExperiment::recreateAllRobots().

void recreateWorld ( )

protected

current trial

Recreate the world

This method helps in the creation of the World where the robot and the objects are simulated. It's strongly advised to use this method instead of creating a World by yourself. You can configure the World after this method accessing to the resource "world".

Warning: it will destroy the World with any robot and object inside and create a new one without restoring any robot and objects present before.

Definition at line 537 of file evorobotexperiment.cpp.

References ConcurrentResourcesUser::declareResource(), ConcurrentResourcesUser::deleteResource(), World::setFrictionModel(), World::setIsRealTime(), World::setMultiThread(), World::setSize(), World::setSolverModel(), and World::setTimeStep().

Referenced by EvoRobotExperiment::configure(), and EvoRobotExperiment::recreateArena().

void restartTrial ( )

Stops the current trial and restarts it from scratch.

Call this function to stop the current trial and restart it from scratch. The current fitness value is discarded, too. You can call this function only from initStep() or endStep(). After the end of the function from which this is called, the trial is restarted and initTrial() is called. In particular no call to endTrial() is performed in any case and, if you call this function from initStep(), the functions afterSensorsUpdate(), beforeMotorsUpdate() and endStep() for the current step are not called. You should never mix calls to this functions with calls to stopTrial(), skipTrial() or endIndividualLife() during the same trial.

Definition at line 420 of file evorobotexperiment.cpp.

void save	(	ConfigurationParameters &	params,
		QString	prefix
	)

virtual

Save the actual status of parameters into the ConfigurationParameters object passed.

This is not implemented, a call to this function will cause an abort

Parameters

params	the configuration parameters object on which save actual parameters
prefix	the prefix to use to access the object configuration parameters.

Implements ParameterSettable.

Definition at line 190 of file evorobotexperiment.cpp.

References Logger::error().

bool selectAgent ( int agentId )

select the i-the agent and make available the corresponding resources

Parameters

agentID the id of the agent

The resources robot, evonet and neuronsIterator references to the selected agent

By default the selected agent is the 0-th, hence in the single robot experiments the resources robot, evonet and neuronsIterator points to the only robot present into the world

Returns: false if the agent is disabled, true otherwise. If the agent is disabled, no action is performed

Warning: This function internally uses declareResource() to change the robot, evonet and neuronsIterator pointed by resources. This means that this can only be called when the lock on resources is not held.

Definition at line 471 of file evorobotexperiment.cpp.

References ConcurrentResourcesUser::declareResource().

Referenced by EvoRobotExperiment::configure().

void setActivityPhase ( Phases newPhase )

inline

set the new activity phase

Definition at line 353 of file evorobotexperiment.h.

Referenced by EvoRobotComponent::evolve(), EvolveOperation::run(), TestRandom::runTest(), TestIndividual::runTest(), and TestCurrent::runTest().

void setEvoga ( Evoga * ga )

Set the Evoga on which this EvoRobotExperiment is used.

Definition at line 505 of file evorobotexperiment.cpp.

References Evoga::getCurrentSeed(), and RandomGenerator::setSeed().

Referenced by Evoga::configure(), Evoga::evolveSpecializerSteadyState(), Evoga::evolveSpecializerSteadyState2(), Evoga::evolveSteadyState(), and Evoga::xnes().

void setNetParameters ( float * genes )

virtual

Sets the free parameters of the neural network. This is done for all agents, even disabled ones.

Definition at line 516 of file evorobotexperiment.cpp.

Referenced by Evoga::evolveGenerational(), Evoga::evolveSteadyState(), TestRandom::runTest(), TestIndividual::runTest(), EvaluatorThreadForEvoga::setGenotype(), EvaluatorThreadForXnes::setGenotype(), and Evoga::xnes().

void setNetParameters ( int * genes )

virtual

Sets the free parameters of the neural network. This is done for all agents, even disabled ones.

Definition at line 524 of file evorobotexperiment.cpp.

void setNSteps ( int new_nsteps )

inline

Sets the number of steps.

Parameters

nsteps the new number of steps

Definition at line 430 of file evorobotexperiment.h.

void setNTrials ( int new_ntrials )

inline

Sets the number of trials.

Parameters

ntrials the new number of trials

Definition at line 412 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::describe().

void setStepDelay ( int delay )

slot

set the delay to apply at each step for slowing down the simulation

Parameters

delay the delay expressed in msec

Note: if the delay is equal to the timestep the simulation will run at real-time

Definition at line 675 of file evorobotexperiment.cpp.

void setTestingAgentAndSeed	(	int	idindividual,
		int	nreplica
	)

virtual

called by AbstractTest and subclasses to inform which individual is going to test

Definition at line 532 of file evorobotexperiment.cpp.

References Logger::error().

void skipTrial ( )

Skips the next trial.

Call this function to skip the execution of the next trial. This function can only be called from initTrial(). If you call this function, after initTrial(), execution continues with initTrial() (if there are more trials) or with endIndividual() (if there are no more trials to do). Of course no fitness is assigned for the skipped trials. You should never mix calls to this functions with calls to stopTrial(), restartTrial() or endIndividualLife() during the same trial.

Definition at line 415 of file evorobotexperiment.cpp.

void stopTrial ( )

Stops the current trial.

Call this function to stop the current trial and move to the next trial (if present). This function can only be called initStep() or endStep(). If you call this from initStep(), the functions afterSensorsUpdate(), beforeMotorsUpdate() and endStep() are also called before terminating the trial. After endStep(), execution continues with endTrial() as if the trial ended normally. This also means that trialFitnessValue is taken into account (unless you overrided the endTrial() function, in which case the behaviour depends on your implementation). You should never mix calls to this functions with calls to skipTrial(), restartTrial() or endIndividualLife() during the same trial.

Definition at line 410 of file evorobotexperiment.cpp.

Member Data Documentation

QVector<int*> m_weightIndividual

Added by Jonata for the SpecializerSteadyState GA.

This filled with the weights in the tests.cpp file

Definition at line 467 of file evorobotexperiment.h.

Referenced by Evoga::evolveSpecializerSteadyState(), and Evoga::evolveSpecializerSteadyState2().

int nstep

protected

number of cycles

Definition at line 485 of file evorobotexperiment.h.

int nsteps

protected

number of test

Definition at line 484 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::configure().

int ntrial

protected

current step

Definition at line 486 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::doAllTrialsForIndividual().

double totalErrorValue

protected

the error of the individual all over the trials

Definition at line 562 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::endTrial(), and EvoRobotExperiment::getError().

double totalFitnessValue

protected

the fitness value of the individual all over the trials

Definition at line 558 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::doAllTrialsForIndividual(), EvoRobotExperiment::endTrial(), and EvoRobotExperiment::getFitness().

double trialErrorValue

protected

the error of the individual during the execution of one trial

Definition at line 560 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::endTrial().

double trialFitnessValue

protected

the fitness value of the individual during the execution of one trial

Definition at line 556 of file evorobotexperiment.h.

Referenced by EvoRobotExperiment::doAllTrialsForIndividual(), and EvoRobotExperiment::endTrial().

The documentation for this class was generated from the following files:

experiments/evorobot/include/evorobotexperiment.h
experiments/evorobot/src/evorobotexperiment.cpp

Experiments - 1.4.5

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