/**
* \brief Register mutation related but Genotype unrelated parameters
*/
void Mutation::registerParameters(StateP state)
{
state->getRegistry()->registerEntry("mutation.indprob", (voidP) new double(0.3), ECF::DOUBLE,
"individual mutation probability (unless the algorithm overrides it) (default: 0.3)");
// state->getRegistry()->registerEntry("mutation.geneprob", (voidP) new double(0.01), ECF::DOUBLE);
state->getRegistry()->registerEntry("mutation.genotypes", (voidP) new std::string("random"), ECF::STRING,
"if there are multiple genotypes, which to mutate? 'random': a random one, all: mutate all (default: random)");
state->getRegistry()->registerEntry("mutation.protected", (voidP) new std::string(""), ECF::STRING,
"indexes of genotypes (separated by spaces) that are excluded (protected) from mutation (default: none)");
}
void RegEvalOp::registerParameters(StateP state) {
state->getRegistry()->registerEntry("inputfile", (voidP)(new std::string("learning.txt")), ECF::STRING);
state->getRegistry()->registerEntry("testfile", (voidP)(new std::string("test.txt")), ECF::STRING);
state->getRegistry()->registerEntry("classesfile", (voidP)(new std::string("classes.txt")), ECF::STRING);
state->getRegistry()->registerEntry("resultsfile", (voidP)(new std::string("results.txt")), ECF::STRING);
state->getRegistry()->registerEntry("classesNum", (voidP)(new uint(2)), ECF::UINT);
}
void ModularRobotEvalOp::registerParameters(StateP state)
{
state->getRegistry()->registerEntry("robot.modules", (voidP) (new uint(1)), ECF::UINT, "Number of modules" );
state->getRegistry()->registerEntry("robot.runtime", (voidP) (new uint(10000)), ECF::UINT, "Max robot runtime (ms)" );
state->getRegistry()->registerEntry("robot.timestep", (voidP) (new float(1.0)), ECF::FLOAT, "Time step (ms)" );
state->getRegistry()->registerEntry("robot.configfile", (voidP) (new std::string()), ECF::STRING, "Robot description file");
state->getRegistry()->registerEntry("osc.maxamplitude", (voidP) (new uint(90)), ECF::UINT, "Max amplitude of oscillators");
state->getRegistry()->registerEntry("osc.maxoffset", (voidP) (new uint(90)), ECF::UINT, "Max offset of oscillators");
state->getRegistry()->registerEntry("osc.maxphase", (voidP) (new uint(360)), ECF::UINT, "Max phase of oscillators");
state->getRegistry()->registerEntry("osc.maxfrequency", (voidP) (new float(1.0f)), ECF::FLOAT, "Max frequency of oscillators");
}
bool SymbRegEvalOp::initialize(StateP state)
{
domain.clear();
codomain.clear();
double datum;
std::stringstream ss;
// check if the parameters are defined in the conf. file
// if not, we return false so the initialization fails
if(!state->getRegistry()->isModified("domain") ||
!state->getRegistry()->isModified("codomain"))
return false;
voidP sptr = state->getRegistry()->getEntry("domain"); // get parameter value
ss << *((std::string*) sptr.get()); // convert from voidP to user defined type
while(ss >> datum) { // read all the data from string
domain.push_back(datum);
}
ss.str("");
ss.clear(); // reset stringstream object
sptr = state->getRegistry()->getEntry("codomain"); // get codomain parameter
ss << *((std::string*) sptr.get());
while(ss >> datum) { // read values
codomain.push_back(datum);
}
if(domain.size() != codomain.size()) // if the parameters are ill defined, return false
return false;
nSamples = (uint) domain.size();
return true;
//nSamples = 10;
//double x = -10;
//for(uint i = 0; i < nSamples; i++) {
// domain.push_back(x);
// codomain.push_back(x + sin(x));
// x += 2;
//}
//return true;
}
bool TermStagnationOp::initialize(StateP state)
{
voidP sptr = state->getRegistry()->getEntry("term.stagnation");
termStagnation_ = *((uint*) sptr.get());
// define the default criterion
if(termStagnation_ == 0) {
voidP sptr = state->getRegistry()->getEntry("population.size");
uint demeSize = *((uint*) sptr.get());
termStagnation_ = 5000 / demeSize;
if(termStagnation_ < 10)
termStagnation_ = 5;
if(termStagnation_ > 200)
termStagnation_ = 200;
}
if(!state->getRegistry()->isModified("term.stagnation"))
return false;
return true;
}
bool ArtificialBeeColony::initialize(StateP state)
{
// initialize all operators
selFitOp->initialize(state);
selFitOp->setSelPressure(2);
selBestOp->initialize(state);
selWorstOp->initialize(state);
selRandomOp->initialize(state);
voidP sptr = state->getRegistry()->getEntry("population.size");
uint size = *((uint*) sptr.get());
probability_.resize(size);
// this algorithm accepts a single FloatingPoint Genotype
FloatingPointP flp (new FloatingPoint::FloatingPoint);
if(state->getGenotypes()[0]->getName() != flp->getName()) {
ECF_LOG_ERROR(state, "Error: ABC algorithm accepts only a single FloatingPoint genotype!");
throw ("");
}
voidP limitp = getParameterValue(state, "limit");
limit_ = *((uint*) limitp.get());
voidP lBound = state->getGenotypes()[0]->getParameterValue(state, "lbound");
lbound_ = *((double*) lBound.get());
voidP uBound = state->getGenotypes()[0]->getParameterValue(state, "ubound");
ubound_ = *((double*) uBound.get());
// batch run check
if(isTrialAdded_)
return true;
FloatingPointP flpoint[2];
for(uint iGen = 1; iGen < 2; iGen++) {
flpoint[iGen] = (FloatingPointP) new FloatingPoint::FloatingPoint;
state->setGenotype(flpoint[iGen]);
flpoint[iGen]->setParameterValue(state, "dimension", (voidP) new uint(1));
// initial value of trial parameter should be (as close as possible to) 0
flpoint[iGen]->setParameterValue(state, "lbound", (voidP) new double(0));
flpoint[iGen]->setParameterValue(state, "ubound", (voidP) new double(0.01));
}
ECF_LOG(state, 1, "ABC algorithm: added 1 FloatingPoint genotype (trial)");
// mark adding of trial genotype
isTrialAdded_ = true;
return true;
}
bool StatCalc::initialize(StateP state)
{
state_ = state;
average_.clear();
stdDev_.clear();
max_.clear();
min_.clear();
time_.clear();
sampleSize_.clear();
evaluations_.clear();
nEvaluations_ = 0;
lowest_ = highest_ = 0;
if(state->getRegistry()->isModified("stats.file")) {
voidP sptr = state->getRegistry()->getEntry("stats.file");
statsFileName_ = *((std::string*) sptr.get());
statsFile_.open(statsFileName_.c_str());
if(!statsFile_) {
throw std::string("Error: can't open stats file (") + statsFileName_ + ")";
}
}
return true;
}
void SymbRegEvalOp::registerParameters(StateP state)
{
state->getRegistry()->registerEntry("domain", (voidP) (new std::string), ECF::STRING);
state->getRegistry()->registerEntry("codomain", (voidP) (new std::string), ECF::STRING);
}
bool RegEvalOp::initialize(StateP state) {
state->getContext()->environment = this;
voidP sptr = state->getRegistry()->getEntry("classesNum");
classesNum = *((uint *) sptr.get());
std::string outputPath = *((std::string*) state->getRegistry()->getEntry("resultsfile").get());
std::ofstream outfile;
outfile.open(outputPath.c_str());
if (!outfile.is_open()) {
ECF_LOG_ERROR(state, "Error: Can't open output file " + outputPath);
return false;
}
outfile << "Gen_No,Training,Test" << std::endl;
outfile.close();
sptr = state->getRegistry()->getEntry("inputfile");
std::string filePath = *((std::string *) sptr.get());
ifstream file;
file.open(filePath.c_str());
if (!file.is_open()) {
ECF_LOG_ERROR(state, "Error: Can't open input file " + filePath);
return false;
}
parseFile(domain, codomain, file);
file.close();
sptr = state->getRegistry()->getEntry("testfile");
filePath = *((std::string *) sptr.get());
file.open(filePath.c_str());
if (!file.is_open()) {
ECF_LOG_ERROR(state, "Error: Can't open test file " + filePath);
return false;
}
parseFile(testDomain, testCodomain, file);
file.close();
sptr = state->getRegistry()->getEntry("classesfile");
filePath = *((std::string *) sptr.get());
file.open(filePath.c_str());
if (!file.is_open()) {
generateDefaultClasses();
} else {
generateParsedClasses(file);
}
file.close();
for (auto& entry: classes) {
f1Score.insert(std::make_pair(entry.first, std::vector<uint>(3, 0)));
}
return true;
}
void TermStagnationOp::registerParameters(StateP state)
{
uint *value = new uint(50);
state->getRegistry()->registerEntry("term.stagnation", (voidP) value, ECF::UINT,
"max number of consecutive generations without improvement (default: 5000 / pop_size)");
}
/**
* \brief Initialize all mutation operators of all active genotypes
*/
bool Mutation::initialize(StateP state)
{
state_ = state;
protectedGenotypes_.clear();
protectedGenotypes_.insert(protectedGenotypes_.begin(), operators.size(), false);
opProb.clear();
voidP sptr = state->getRegistry()->getEntry("mutation.indprob");
indMutProb_ = *((double*)sptr.get());
sptr = state->getRegistry()->getEntry("mutation.geneprob");
// geneMutProb_ = *((double*)sptr.get());
// if(state->getRegistry()->isModified("mutation.geneprob") == false)
// geneMutProb_ = 0;
sptr = state->getRegistry()->getEntry("mutation.genotypes");
std::string mutGen = *((std::string*)sptr.get());
mutateGenotypes_ = RANDOM_GENOTYPE;
if(mutGen == "random")
mutateGenotypes_ = RANDOM_GENOTYPE;
else if(mutGen == "all")
mutateGenotypes_ = ALL_GENOTYPES;
else
ECF_LOG_ERROR(state, "Warning: invalid parameter value (key: mutation.genotypes)");
// read protected genotypes
std::stringstream ss;
sptr = state->getRegistry()->getEntry("mutation.protected");
ss << *((std::string*) sptr.get());
uint genId;
while(ss >> genId) { // read all the data from string
if(genId >= protectedGenotypes_.size()) {
ECF_LOG_ERROR(state, "Error: invalid genotype index (key: mutation.protected)!");
throw("");
}
protectedGenotypes_[genId] = true;
}
// initialize operators for all genotypes
for(uint gen = 0; gen < operators.size(); gen++) {
uint nOps = (uint) operators[gen].size();
// if the genotype doesn't define mutation operators
if(nOps == 0) {
protectedGenotypes_[gen] = true;
std::vector<double> empty;
opProb.push_back(empty);
break;
}
for(uint i = 0; i < nOps; i++) {
operators[gen][i]->state_ = state;
operators[gen][i]->initialize(state);
}
// calculate cumulative operator probabilities
std::vector<double> probs(nOps);
probs[0] = operators[gen][0]->probability_;
for(uint i = 1; i < nOps; i++) {
probs[i] = probs[i - 1] + operators[gen][i]->probability_;
}
if(probs[nOps - 1] == 0) {
std::vector<double> none(1);
none[0] = -1;
opProb.push_back(none);
} else {
if(probs[nOps - 1] != 1) {
double normal = probs[nOps - 1];
ECF_LOG_ERROR(state, "Warning: " + operators[gen][0]->myGenotype_->getName() +
" mutation operators: cumulative probability not equal to 1 (sum = " + dbl2str(normal) + ")");
for(uint i = 0; i < probs.size(); i++)
probs[i] /= normal;
}
opProb.push_back(probs);
}
}
return true;
}
void StatCalc::registerParameters(StateP state)
{
state->getRegistry()->registerEntry("stats.file", (voidP) (new std::string("")), ECF::STRING);
}
bool ModularRobotEvalOp::initialize(StateP state)
{
//-- Get the robot values from the registry:
//-----------------------------------------------------------------------------------------
//-- Number of modules:
voidP sptr = state->getRegistry()->getEntry("robot.modules");
n_modules = *((uint*) sptr.get() );
std::cout << "[Evolve] Info: Loaded \"robot.modules\"="<< n_modules << std::endl;
//-- Max runtime:
sptr = state->getRegistry()->getEntry("robot.runtime");
max_runtime =(unsigned long) *((uint*) sptr.get() );
std::cout << "[Evolve] Info: Loaded \"robot.runtime\"="<< max_runtime << std::endl;
//-- Time step:
sptr = state->getRegistry()->getEntry("robot.timestep");
timestep = *((float*) sptr.get() );
std::cout << "[Evolve] Info: Loaded \"robot.timestep\"="<< timestep << std::endl;
//-- Gait table file:
sptr = state->getRegistry()->getEntry("robot.configfile");
config_file = *((std::string*) sptr.get() );
std::cout << "[Evolve] Info: Loaded \"robot.configfile\"="<< config_file << std::endl;
//-- Get the oscillator parameters from the registry:
//---------------------------------------------------------------------------------------
//-- Max amplitude:
sptr = state->getRegistry()->getEntry("osc.maxamplitude");
int max_amplitude = *((uint*) sptr.get());
max_amp_0_5 = max_amplitude / 2.0;
std::cout << "[Evolve] Info: Loaded \"osc.maxamplitude\"="<< max_amplitude << std::endl;
//-- Max offset:
sptr = state->getRegistry()->getEntry("osc.maxoffset");
max_offset = *((uint*) sptr.get());
std::cout << "[Evolve] Info: Loaded \"osc.maxoffset\"="<< max_offset << std::endl;
//-- Max phase:
sptr = state->getRegistry()->getEntry("osc.maxphase");
int max_phase = *((uint*) sptr.get());
max_pha_0_5 = max_phase / 2.0;
std::cout << "[Evolve] Info: Loaded \"osc.maxphase\"="<< max_phase << std::endl;
//-- Max frequency:
sptr = state->getRegistry()->getEntry("osc.maxfrequency");
float max_frequency = *((float*) sptr.get());
max_freq_0_5 = max_frequency / 2.0;
std::cout << "[Evolve] Info: Loaded \"osc.maxfrequency\"="<< max_frequency << std::endl;
//-- Create and configure the robot parts
//---------------------------------------------------------------------------------------
//-- Read test data
if ( configParser.parse(config_file) != 0)
{
std::cerr << "[Evolve] Error: error parsing xml config file!" << std::endl;
return false;
}
if ( configParser.getNumModules() != n_modules )
{
std::cerr << "[Evolve] Error: number of modules not consitent between config file and "
<< "robot model." << std::endl;
return false;
}
//-- Create robot, simulated type
robotInterface = createModularRobotInterface( "simulated", configParser);
//-- Create sinusoidal oscillators with the test parameters
oscillators.clear();
for ( int i = 0; i < configParser.getNumModules(); i++)
oscillators.push_back(new SinusoidalOscillator( 0, 0, 0, 4000));
robotInterface->reset();
return true;
}
bool CgdaPaintFitnessFunction::initialize(StateP state) {
voidP sptr = state->getRegistry()->getEntry("function"); // get parameter value
return true;
}
void CgdaPaintFitnessFunction::registerParameters(StateP state) {
state->getRegistry()->registerEntry("function", (voidP) (new uint(1)), ECF::UINT);
}
bool PSOInheritance::initialize(StateP state)
{
// initialize all operators
selBestOp->initialize(state);
voidP weightType = getParameterValue(state, "weightType");
m_weightType = *((InertiaWeightType*) weightType.get());
voidP weight = getParameterValue(state, "weight");
m_weight = *((double*) weight.get());
voidP maxV = getParameterValue(state, "maxVelocity");
m_maxV = *((double*) maxV.get());
// test if inertia weight type is time variant and if so, check if max iterations specified
if(m_weightType == TIME_VARIANT) {
if(state->getRegistry()->isModified("term.maxgen")) {
// read maxgen parameter
m_maxIter = *(boost::static_pointer_cast<int>( state->getRegistry()->getEntry("term.maxgen") ));
}
else {
ECF_LOG_ERROR(state, "Error: term.maxgen has to be specified in order to use time variant inertia eight in PSO algorithm");
throw("");
}
}
// algorithm accepts a single FloatingPoint Genotype
FloatingPointP flp (new FloatingPoint::FloatingPoint);
if(state->getGenotypes()[0]->getName() != flp->getName()) {
ECF_LOG_ERROR(state, "Error: PSO algorithm accepts only a single FloatingPoint genotype!");
throw ("");
}
voidP sptr = state->getGenotypes()[0]->getParameterValue(state, "dimension");
uint numDimension = *((uint*) sptr.get());
voidP bounded = getParameterValue(state, "bounded");
bounded_ = *((bool*) bounded.get());
sptr = state->getGenotypes()[0]->getParameterValue(state, "lbound");
lbound_ = *((double*) sptr.get());
sptr = state->getGenotypes()[0]->getParameterValue(state, "ubound");
ubound_ = *((double*) sptr.get());
// batch run check
if(areGenotypesAdded_)
return true;
FloatingPointP flpoint[4];
for(uint iGen = 1; iGen < 4; iGen++) {
flpoint[iGen] = (FloatingPointP) new FloatingPoint::FloatingPoint;
state->setGenotype(flpoint[iGen]);
if(iGen == 3)
flpoint[iGen]->setParameterValue(state, "dimension", (voidP) new uint(1));
else
flpoint[iGen]->setParameterValue(state, "dimension", (voidP) new uint(numDimension));
// other parameters are proprietary (ignored by the algorithm)
flpoint[iGen]->setParameterValue(state, "lbound", (voidP) new double(0));
flpoint[iGen]->setParameterValue(state, "ubound", (voidP) new double(1));
}
ECF_LOG(state, 1, "PSO algorithm: added 3 FloatingPoint genotypes (particle velocity, best-so-far postition, best-so-far fitness value)");
// mark adding of genotypes
areGenotypesAdded_ = true;
return true;
}
