//---------------------------------------------------------
bool CMRVBF::On_Execute(void)
{
bool bUpdate;
int Level;
double T_Slope, Resolution, max_Resolution;
CSG_Grid *pDEM, *pMRVBF, *pMRRTF, CF, VF, RF, DEM, Slope, Pctl;
//-----------------------------------------------------
pDEM = Parameters("DEM") ->asGrid();
pMRVBF = Parameters("MRVBF") ->asGrid();
pMRRTF = Parameters("MRRTF") ->asGrid();
T_Slope = Parameters("T_SLOPE") ->asDouble();
m_T_Pctl_V = Parameters("T_PCTL_V") ->asDouble();
m_T_Pctl_R = Parameters("T_PCTL_R") ->asDouble();
m_P_Slope = Parameters("P_SLOPE") ->asDouble();
m_P_Pctl = Parameters("P_PCTL") ->asDouble();
bUpdate = Parameters("UPDATE") ->asBool();
max_Resolution = Parameters("MAX_RES") ->asDouble() / 100.0;
Resolution = SG_Get_Length(Get_System()->Get_XRange(), Get_System()->Get_YRange());
max_Resolution = max_Resolution * Resolution;
//-----------------------------------------------------
if( 1 )
{
// DataObject_Set_Colors(pMRVBF, 100, SG_COLORS_WHITE_BLUE , false);
DataObject_Set_Colors(pMRVBF, 100, SG_COLORS_RED_GREY_BLUE , false);
// DataObject_Set_Colors(pMRRTF, 100, SG_COLORS_RED_GREY_BLUE , true);
DataObject_Set_Colors(pMRRTF, 100, SG_COLORS_WHITE_RED , false);
CSG_Grid CF, VF, RF, DEM, Slopes, Percentiles;
VF.Create(*Get_System(), SG_DATATYPE_Float);
RF.Create(*Get_System(), SG_DATATYPE_Float);
CF.Create(*Get_System(), SG_DATATYPE_Float);
CF.Assign(1.0);
DEM.Create(*pDEM);
//-------------------------------------------------
Level = 1;
Resolution = Get_Cellsize();
Process_Set_Text(CSG_String::Format(SG_T("%d. %s"), Level, _TL("step")));
Message_Add(CSG_String::Format(SG_T("%s: %d, %s: %.2f, %s %.2f"), _TL("step"), Level, _TL("resolution"), Resolution, _TL("threshold slope"), T_Slope));
Get_Slopes (&DEM, &Slopes);
Get_Percentiles (&DEM, &Percentiles, 3);
Get_Flatness (&Slopes, &Percentiles, &CF, pMRVBF, pMRRTF, T_Slope);
UPDATE_VIEWS (true);
//-------------------------------------------------
T_Slope /= 2.0;
Level++;
Process_Set_Text(CSG_String::Format(SG_T("%d. %s"), Level, _TL("step")));
Message_Add(CSG_String::Format(SG_T("%s: %d, %s: %.2f, %s %.2f"), _TL("step"), Level, _TL("resolution"), Resolution, _TL("threshold slope"), T_Slope));
Get_Percentiles (&DEM, &Percentiles, 6);
Get_Flatness (&Slopes, &Percentiles, &CF, &VF, &RF, T_Slope);
Get_MRVBF (Level, pMRVBF, &VF, pMRRTF, &RF);
UPDATE_VIEWS (false);
//-------------------------------------------------
while( Process_Get_Okay(false) && Resolution < max_Resolution )
{
Resolution *= 3.0;
T_Slope /= 2.0;
Level++;
Process_Set_Text(CSG_String::Format(SG_T("%d. %s"), Level, _TL("step")));
Message_Add(CSG_String::Format(SG_T("%s: %d, %s: %.2f, %s %.2f"), _TL("step"), Level, _TL("resolution"), Resolution, _TL("threshold slope"), T_Slope));
Get_Values (&DEM, &Slopes, &Percentiles, Resolution);
Get_Flatness (&Slopes, &Percentiles, &CF, &VF, &RF, T_Slope);
Get_MRVBF (Level, pMRVBF, &VF, pMRRTF, &RF);
UPDATE_VIEWS (false);
}
if( Parameters("CLASSIFY")->asBool() )
{
Get_Classified(pMRVBF);
Get_Classified(pMRRTF);
}
return( true );
}
return( false );
}
void evaluate(pair_t *pair) {
#ifdef DEBUG
int i;
int x;
int y;
#endif
int s;
int a;
int new_pos_x_1;
int new_pos_y_1;
int new_pos_x_2;
int new_pos_y_2;
pair->fitness_value = 0;
/* for each session */
for (s = 0; s < SESSIONS_NUMBER; s++) {
init_random_map();
INIT_RANDOM_POSITIONS();
/* for each action */
for (a = 0; a < ACTIONS_PER_SESSION_NUMBER; a++) {
#ifdef DEBUG
for (y = 0; y < MAP_HEIGHT; y++) {
for (x = 0; x < MAP_WIDTH; x++) {
printf(
"|%c%c%c",
IS_SAME_POSITION(pos_x_1, pos_y_1, x, y) ? '1' : ' ',
PRINT_ITEM(GET_ITEM_INTO_MAP(x, y)),
IS_SAME_POSITION(pos_x_2, pos_y_2, x, y) ? '2' : ' '
);
}
printf("|\n");
}
#endif
/* update robbies views, indexes, actions */
UPDATE_VIEWS();
UPDATE_INDEXES();
UPDATE_ACTIONS(pair);
#ifdef DEBUG
printf("Robby 1: |");
for (i = 0; i < VIEW_SIZE; i++)
printf("%c|", PRINT_ITEM(view_1[i]));
printf(
(pair->robby_1[index_1] == RANDOM_ACTION) ?
" -> dna[%d] -> random: %s\n" : " -> dna[%d] -> %s\n",
index_1,
PRINT_ACTION(action_1)
);
printf("Robby 2: |");
for (i = 0; i < VIEW_SIZE; i++)
printf("%c|", PRINT_ITEM(view_2[i]));
printf(
(pair->robby_2[index_2] == RANDOM_ACTION) ?
" -> dna[%d] -> random: %s\n" : " -> dna[%d] -> %s\n",
index_2,
PRINT_ACTION(action_2)
);
#endif
/* update robbies new positions */
new_pos_x_1 = pos_x_1;
new_pos_y_1 = pos_y_1;
new_pos_x_2 = pos_x_2;
new_pos_y_2 = pos_y_2;
UPDATE_POSITION(action_1, new_pos_x_1, new_pos_y_1);
UPDATE_POSITION(action_2, new_pos_x_2, new_pos_y_2);
/* evaluate robby 1 movement */
if (IS_MOVEMENT_ACTION(action_1)) {
if (
(!IS_POSITION_INTO_MAP(new_pos_x_1, new_pos_y_1)) ||
(IS_COLLABORATIVE_VIEW &&
IS_SAME_POSITION(new_pos_x_1, new_pos_y_1, new_pos_x_2, new_pos_y_2))
)
pair->fitness_value -= 5;
else {
pos_x_1 = new_pos_x_1;
pos_y_1 = new_pos_y_1;
}
}
/* evaluate robby 2 movement */
if (IS_MOVEMENT_ACTION(action_2)) {
if (
(!IS_POSITION_INTO_MAP(new_pos_x_2, new_pos_y_2)) ||
(IS_COLLABORATIVE_VIEW &&
IS_SAME_POSITION(new_pos_x_2, new_pos_y_2, new_pos_x_1, new_pos_y_1))
)
pair->fitness_value -= 5;
else {
pos_x_2 = new_pos_x_2;
pos_y_2 = new_pos_y_2;
}
}
/* evaluate robby 1 pick up */
if (action_1 == PICK_UP) {
if (map[pos_x_1][pos_y_1] == CAN) {
map[pos_x_1][pos_y_1] = EMPTY;
pair->fitness_value += 10;
} else
pair->fitness_value -= 1;
}
/* evaluate robby 2 pick up */
if (action_2 == PICK_UP) {
if (map[pos_x_2][pos_y_2] == CAN) {
map[pos_x_2][pos_y_2] = EMPTY;
pair->fitness_value += 10;
} else if (action_1 != PICK_UP || !IS_SAME_POSITION(pos_x_1, pos_y_1, pos_x_2, pos_y_2))
pair->fitness_value -= 1;
}
#ifdef DEBUG
printf("Fitness: %f\n", pair->fitness_value);
#endif
}
#ifdef DEBUG
printf("\n\n");
#endif
}
pair->fitness_value = (double) pair->fitness_value / (double) SESSIONS_NUMBER;
}