FitnessP SymbRegEvalOp::evaluate(IndividualP individual)
{
// stvaranje zeljenog Fintess objekta:
FitnessP fitness = static_cast<FitnessP> (new FitnessMin);
// dohvat genotipa jedinke
TreeP tree = boost::dynamic_pointer_cast<Tree::Tree> (individual->getGenotype());
//Tree* tree = (Tree*) individual->at(0).get();
double value = 0;
for(uint i = 0; i < nSamples; i++) {
tree->setTerminalValue("X", &domain[i]);
/*
for(uint term = 0; term < tree->primitiveSet_->terminalSet.size(); term++)
tree->primitiveSet_->terminalSet[term]->value = domain[i];
*/
double result;
tree->execute(&result);
value += fabs(codomain[i] - result);
}
fitness->setValue(value);
// primjer koristenja vlastitog tipa podatka za terminale
//my_type x;
//x.b = true;
//x.v = false;
//tree->setTerminalValue("term", &x);
//tree->execute(&x);
//fitness->setValue(x.v);
return fitness;
}
FitnessP ModularRobotEvalOp::evaluate(IndividualP individual)
{
//-- Create a fitness object to maximize the objective (distance travelled in m)
FitnessP fitness (new FitnessMax);
//-- We get the genotype:
FloatingPoint::FloatingPoint* genotype = (FloatingPoint::FloatingPoint*) individual->getGenotype(0).get();
//-- Value to store the fitness (distance travelled)
double fitness_value = 0;
//-- Here we record the genotypes on a gait table file:
std::cout << "[Evolve] Convert to gait table!" << std::endl;
genotypeToRobot( genotype );
//-- Reset the robot:
std::cout << "[Evolve] Reset!" << std::endl;
robotInterface->reset();
//-- Run the robot:
std::cout << "[Evolve] Run!" << std::endl;
//-- Here you put the main loop
unsigned long elapsed_time = 0; //-- Should be in uS
unsigned long max_time_us = max_runtime*1000;
joint_values.clear();
for (int i = 0; i < (int) n_modules; i++)
joint_values.push_back(0);
while( elapsed_time < max_time_us )
{
//-- Update joint values
for ( int i = 0; i < (int) oscillators.size(); i++)
joint_values[i] = oscillators[i]->calculatePos(elapsed_time);
//-- Send joint values
robotInterface->sendJointValues(joint_values, timestep);
elapsed_time+=(unsigned long) (timestep*1000);
//std::cout << "[Evolve] Time: " << elapsed_time << "us" << std::endl;
}
//-- Select the fitness value (distance travelled in m)
fitness_value = robotInterface->getTravelledDistance();
//-- Set the fitness value
fitness->setValue( fitness_value);
std::cout << "[Evolve] Return!" << std::endl;
return fitness;
}
FitnessP CgdaPaintFitnessFunction::evaluate(IndividualP individual) {
// Evaluation creates a new fitness object using a smart pointer
// in our case, we try to minimize the function value, so we use FitnessMin fitness (for minimization problems)
FitnessP fitness (new FitnessMin);
// we define FloatingPoint as the only genotype (in the configuration file)
FloatingPoint::FloatingPoint* gen = (FloatingPoint::FloatingPoint*) individual->getGenotype().get();
// we implement the fitness function 'as is', without any translation
// the number of variables is read from the genotype itself (size of 'realValue' vactor)
double value =0;
value= getCustomFitness(gen->realValue);
fitness->setValue(value);
return fitness;
}
FitnessP GAFitnessEvalOp::evaluate(IndividualP individual)
{
FitnessP fitness = static_cast<FitnessP> (new FitnessMin);
double value = infinitePrice;
BinaryP bin = boost::dynamic_pointer_cast<Binary> (individual->getGenotype());
if(selector_.isInProgress()) {
selector_.clearSelection();
for(uint i = 0; i < bin->realValue.size(); ++i) {
// int intVal = (int) bin->realValue.at(i);
// if(intVal < 0) intVal = 0;
int intVal = getSelectCount(bin, i, ubound_);
// debugFitnessElements(bin->realValue.at(i), ubound_,
// selector_.getInitialSelectLimit(selector_.getOffer(i)), intVal);
selector_.selectOffer(selector_.getOffer(i), intVal);
}
if(selector_.isCurrentSelectionFeasible()) {
value = selector_.selection().getTotalPrice();
selector_.updateBestSelection(selector_.selection());
}
else {
const int C = 100;
int flow = selector_.calcMaxFlow();
int total = selector_.total_disj_req_quantity();
value = selector_.worst_acceptable_price()+1
+ C*(total*total - flow*flow);
double d = 0;
for(uint i = 0; i < bin->realValue.size(); ++i) {
const PurchasableOffer& offer = selector_.getOffer(i);
// d += pow(selector_.selection().getOfferCount(offer), 2.0);
d += pow(selector_.getInitialSelectLimit(offer)
-selector_.selection().getOfferCount(offer), 2.0);
}
value += C - log(1+d);
}
}
fitness->setValue(value);
return fitness;
}
FitnessP MazeEnv::evaluate(IndividualP ind) {
FitnessP fitness = static_cast<FitnessP> (new FitnessMax);
fitness->setValue(0);
int move = 0;
BitStringP bstring = boost::dynamic_pointer_cast<BitString::BitString> (ind->getGenotype(1));
//TODO napravit neku metodu za pretvaranje bitstringa u int i obratno
for (int i =0; i < 3; i++){
move *= 2;
if (bstring->bits[i]) move += 1;
}
//make move only if there is no wall on target location
pair<int, int> pos = makeMove(position, move);
if (getLocation(pos) != MZ_WALL) {
position = pos;
if (changePositionEvent) changePositionEvent(pos);
}
return fitness;
}
