void PopulationControlArchitecture::setCandidateFitness(ControllerPtr candidate, double scoredFitness) { // running evaluation has completed. Decide if the candidate will become the active solution. if (candidate->GetFitness() > -1) { // this is a re-evaluation, average out the previous and the new score if (debug) { cout << "This was a re-evaluation, not adding a new candidate" << endl; } candidate->SetFitness((candidate->GetFitness() + scoredFitness) / 2); if (debug || verbose) { cout << "Finished re-evaluating " << candidate->ToShortString() << " - fitness: " << scoredFitness << ", avg: " << candidate->GetFitness() << endl; } } else { candidate->SetFitness(scoredFitness); // this is a first evaluation and will need to be considered for placement as an active solution if (activeSolutions.size() < mu) { // there is no full set of active solutions yet, just add this solution activeSolutions.push_back(candidate); // send out a news item about the new active solution population->setNews(candidate->Clone(), activeSolutions.size() - 1, currentTime); } else { // there is a full list of active solutions, compete with the active solutions int worstIndex = -1; ControllerPtr worst = candidate; // find the worst controller in the (unsorted) list for (unsigned int i = 0; i < activeSolutions.size(); i++) { if (worst->GetFitness() > activeSolutions[i]->GetFitness()) { worst = activeSolutions[i]; worstIndex = i; } } // if the candidate is better than the worst controller in the list, have it take that controller's place if (scoredFitness > worst->GetFitness()) { if (debug) { cout << "This was first evaluation, candidate became active solution" << endl; } activeSolutions[worstIndex] = candidate; // send out a news item about the new active solution population->setNews(candidate->Clone(), worstIndex, currentTime); } else { if (debug) { cout << "This was first evaluation, candidate failed" << endl; } // the candidate has lost the competition; have it deleted // done automatically by smart pointer } } // Don't print if candidate was deleted if (candidate && (debug || verbose)) { cout << "Finished evaluating " << candidate->ToShortString() << " - fitness: " << scoredFitness << endl; } } if (!debug && !verbose) { // there has been no output on the fitness yet, do that now cout << scoredFitness << endl; } }