double Fitness::calculateFitness()
{
if(stdDesviation(robot_rightVel) < 0.5 && stdDesviation(robot_leftVel) < 0.5)
{
cerr << "FITNESS ERROR:\tNAVIGATION WITHOUT DIRECTION CHANGES" << endl;
fitness = FAILED_FITNESS;
}
else
{
for(int i = 1; i < (int)robot_position.size(); i++)
{
double x0 = robot_position.at(i - 1).at(0);
double x1 = robot_position.at(i).at(0);
double y0 = robot_position.at(i - 1).at(1);
double y1 = robot_position.at(i).at(1);
double tail = robot_tail.at(i - 1);
distance = distance + tail*sqrt(pow(x1 - x0, 2) + pow(y1 - y0, 2));
}
fitness = distance;//10/(1 + exp(3*(-distance + 2)));
}
generation_fitness.push_back(fitness);
return fitness;
}
void SimFiles::addFileFrecuency(Fitness * fitness, int generation)
{
double average = mean(fitness->getGenerationFrecuency());
double stddesv = stdDesviation(fitness->getGenerationFrecuency());
file_frecuency << generation << "\t" << average << "\t" << stddesv << "\t" << fitness->getFrecuencyThreshold() << endl;
}
void SimFiles::addFileFitness(Fitness * fitness, int generation)
{
double average = mean(fitness->getGenerationFitness());
double stddesv = stdDesviation(fitness->getGenerationFitness());
file_fitness << generation << "\t" << average << "\t" << stddesv << endl;
}
