/**
* Standard constructor.
*/
PhysicsManager::PhysicsManager() : mPhysicalSimulationAlgorithm(0), mCollisionManager(0),
mSynchronizeObjectsWithPhysicalModel(true), mNextStepEvent(0),
mCompletedNextStepEvent(0),
mResetEvent(0), mResetFinalizedEvent(0), mResetSettingsEvent(0),
mResetSettingsTerminatedEvent(0), mInitialResetDone(false), mCurrentSimulationTime(0),
mCurrentRealTime(0), mCurrentStep(0), mResetDuration(0), mStepExecutionDuration(0),
mPhysicalStepDuration(0), mSynchronizationDuration(0), mPostStepDuration(0),
mCollisionHandlingDuration(0), mDisablePhysics(0), mResetMutex(QMutex::Recursive)
{
EventManager *em = Core::getInstance()->getEventManager();
//make sure these events are created right at the beginning (required for morphology evolution)
em->getEvent(NerdConstants::EVENT_EXECUTION_RESET_SETTINGS, true);
em->getEvent(NerdConstants::EVENT_EXECUTION_RESET_SETTINGS_COMPLETED, true);
mPhysicsEnvironmentChangedEvent = em->createEvent(
SimulationConstants::EVENT_PHYSICS_ENVIRONMENT_CHANGED);
CommandLineArgument *switchXZArg = new CommandLineArgument("switchYZAxis", "switchYZAxis", "",
"The y-axis now means height, so that the position of a robot in the plane is (x,z).",
0, 0, true, false);
bool switchXZ = switchXZArg->getNumberOfEntries() > 0 ? false : true;
mSwitchYZAxes = new BoolValue(switchXZ);
mSwitchYZAxes->setDescription("Changes the XYZ space to a XZY space, so that X and Y are in the plain.");
Core::getInstance()->getValueManager()->addValue(SimulationConstants::VALUE_SWITCH_YZ_AXES, mSwitchYZAxes);
mDisablePhysics = new BoolValue(false);
mDisablePhysics->setDescription("If true, then the physical simulation is skipped and no update or resets of the physics takes place.");
Core::getInstance()->getValueManager()->addValue(SimulationConstants::VALUE_DISABLE_PHYSICS, mDisablePhysics);
}
bool CollisionManager::bind() {
CommandLineArgument *printCollisionRulePrototypesArg = new CommandLineArgument(
"collisionRulePrototypes", "colp", "",
"Displays a list with all available collision rule prototypes",
0, 0, false, false);
CommandLineArgument *printCollisionRulesArg = new CommandLineArgument(
"collisionRules", "col", "",
"Displays a list with all available collision rules that have been registered up to the binding phase.",
0, 0, false, false);
if(printCollisionRulePrototypesArg->getNumberOfEntries() > 0) {
printCollisionRulePrototypes();
}
if(printCollisionRulesArg->getNumberOfEntries() > 0) {
printCollisionRules();
}
return true;
}
/**
* Constructs a new NeuralNetworkEditorApplication.
*/
NetworkDynamicsPlotterApplication::NetworkDynamicsPlotterApplication()
: BaseApplication(), mExecutionLoop(0), mEnableSimulator(false)
{
mName = "NeuralNetworkApplication";
//Add statis mode value to allow the plotters to prevent network modifications in the editor
//while the plots are calculated.
BoolValue *stasisModeValue = new BoolValue(true);
Core::getInstance()->getValueManager()->addValue(
EvolutionConstants::VALUE_EVO_STASIS_MODE, stasisModeValue);
//Check if the physical simulator is enabled.
CommandLineArgument *simArg = new CommandLineArgument("useSimulator", "sim", "",
"Enables the physical simulator.", 0, 0, true, true);
if(simArg->getNumberOfEntries() > 0) {
mEnableSimulator = true;
}
Physics::install();
}
/**
* Constructs a new UniversalNeuroScriptLoader.
*/
UniversalNeuroScriptLoader::UniversalNeuroScriptLoader()
{
CommandLineArgument *scriptLoaderArgument = new CommandLineArgument(
"installScript", "is", "<ScriptName> [<ScriptFileName> <TriggerEvent> <ResetEvent> <AgentInterface>]",
QString("Installs a new script with name <ScriptName>, that loads file <ScriptFileName> ")
+ "during the bind phase. The script is reset by <ResetEvent> and executed each "
+ "time <TriggerEvent> is triggered.\nThe <AgentInterface> "
+ "specifies the agents whose neural network can be changed.", 1, 4, true);
QList<QString> scriptNames;
int numberOfScriptsToInstall = scriptLoaderArgument->getNumberOfEntries();
for(int i = 0; i < numberOfScriptsToInstall; ++i) {
QList<QString> entryParams = scriptLoaderArgument->getEntryParameters(i);
QString name = entryParams.at(0);
QString fileName = "";
if(entryParams.size() > 1) {
fileName = entryParams.at(1);
}
QString triggerEvent = "";
if(entryParams.size() > 2) {
triggerEvent = entryParams.at(2);
}
QString resetEvent = "";
if(entryParams.size() > 3) {
resetEvent = entryParams.at(3);
}
QString agentName = "";
if(entryParams.size() > 4) {
agentName = entryParams.at(4);
}
if(name != "" && !scriptNames.contains(name)) {
new UniversalNeuroScriptingContext(name, fileName, triggerEvent, resetEvent, agentName);
scriptNames.append(name);
Core::log("UniversalScriptLoader: Installed UniversalScriptingContext ["
+ name + "]");
}
}
}
/**
* Initializes the FitnessManager.
*/
bool FitnessManager::init() {
bool initOk = true;
//print names of FitnessFunctionPrototypes if required
CommandLineArgument *printFitnessFunctionsArgument = new CommandLineArgument("fitnessPrototypes",
"fitnessPrototypes", "",
"Prints the names of all available FitnessFunction prototypes.",
0, 0, false, false);
printFitnessFunctionsArgument->setProperty("debug");
if(printFitnessFunctionsArgument->getNumberOfEntries() > 0) {
cerr << "FitnessFunction Prototypes: " << endl
<< "-----------------------------" << endl;
QList<FitnessFunction*> prototypes = mFitnessFunctionPrototypes.values();
for(QListIterator<FitnessFunction*> i(prototypes); i.hasNext();) {
FitnessFunction *ff = i.next();
cerr << " > " << ff->getName().toStdString().c_str() << endl;
}
}
return initOk;
}
bool EvolutionOperatorTestApplication::setupApplication()
{
bool ok = true;
//Choose Physics Engine (or external Yars simulator)
CommandLineArgument *physicsArg = new CommandLineArgument("physics", "p", "<physicsLibrary>",
"Uses <physicsLibrary> as physics engine. "
"Currently there are [ode, yars].", 1,0, true);
if(physicsArg->getNumberOfEntries() != 0 && !physicsArg->getEntryParameters(0).empty()
&& physicsArg->getEntryParameters(0).at(0).trimmed() == "yars")
{
YarsCommunication();
}
else {
//install ODE PhysicsLayer
ODE_Physics();
}
EvolutionSimulationPrototypes();
//install file parser
new SimpleObjectFileParser();
//Install file interface for HTTPS communication.
//new LoadAndStoreValueManagerPerGeneration();
//Install fitness prototypes
NeuroFitnessPrototypes();
//Install standard NN functions and objects.
StandardNeuralNetworkFunctions();
//Install constraint manager.
StandardConstraintCollection();
//Install neuro modules
NeuroModuleCollection();
//Install network attribute characterizer
new NeuralNetworkAttributes();
//Install statistics logger to save the current statistics to a file.
new StatisticsLogger(Evolution::getEvolutionManager()->getEvolutionWorkingDirectory());
//Install and initialize the settings logger (logging of settings history).
SettingsLogger *settingsLogger = new SettingsLogger();
settingsLogger->addValues("(?!.*/Evo/.*/Fitness/.*/Fitness/.*)(?!.*/Performance/.*)/Evo/.*/Algorithm/.*");
settingsLogger->addValues("(?!.*/Evo/.*/Fitness/.*/Fitness/.*)(?!.*/Performance/.*)/Evo/.*/Pop/.*");
settingsLogger->addValues("/Evo/.*/Fitness/.*/Fitness/CalculationMode");
settingsLogger->addValues("/Control/NumberOfSteps");
settingsLogger->addValues("/Control/NumberOfTries");
new FramesPerSecondCounter();
new SimObjectGroupPrinter();
new SaveBestNetworksHandler(3);
if(!buildSimulationModel()) {
Core::log("LocalNNSimulatorEvolutionApplication: "
"Problem while building the simulation model.");
ok = false;
}
if(!buildEvolutionSystem()) {
Core::log("LocalNNSimulatorEvolutionApplication: "
"Problem while building the evolution system.");
ok = false;
}
mRunner = new EvolutionRunner();
return ok;
}
/**
* Constructs a new NeuroEvolutionSelector.
*/
NeuroEvolutionSelector::NeuroEvolutionSelector(EvaluationMethod *evaluationMethod)
{
//TODO Currently only a single world with a single population is supported.
//Select evolution algorithm
CommandLineArgument *evoAlgorithmArg = new CommandLineArgument(
"evolutionAlgorithm", "evo", "<algorithmName> <controlledAgent> <populationName>",
"Uses the evolution algorithm with the given <algorithmName> "
"to evolve controllers for agent <controlledAgent> (optional). "
"Optionally the population name can be set with <populationName>.", 1, 2, true);
CommandLineArgument *fitnessFunctionArg = new CommandLineArgument(
"fitness", "fit", "<prototypeName> <fitnessFunctionName> <population>",
"Creates a copy of <prototypeName> and uses it "
" with the given <fitnessFunctionName>. The <population>"
" is a number and specifies the population in which the fitness function is used.",
2, 1, true);
//ensure that there is at least on world, even if not specified via command line.
bool createDefaultWorld = false;
if(evoAlgorithmArg->getNumberOfEntries() == 0) {
createDefaultWorld = true;
}
int scriptFitnessCounter = 0;
QList<QString> evoWorldNames;
for(int evoCount = 0; evoCount < evoAlgorithmArg->getNumberOfEntries() || createDefaultWorld; ++evoCount) {
QString worldName = "Main";
QString popName = "Controllers";
if(evoCount > 0) {
worldName = "Pop" + QString::number(evoCount);
}
if(evoCount > 0) {
popName = "Controllers" + QString::number(evoCount);
}
QList<QString> evoArguments = evoAlgorithmArg->getEntryParameters(evoCount);
if(evoArguments.size() >= 3) {
worldName = evoArguments[2];
QString name = worldName;
int counter = 1;
while(evoWorldNames.contains(worldName)) {
worldName = name + QString::number(counter);
counter++;
}
evoWorldNames.append(worldName);
}
World *world = new World(worldName);
Population *population = new Population(popName, world);
world->addPopulation(population);
if(evoCount == 0) {
world->setEvaluationMethod(evaluationMethod);
}
else {
world->setEvaluationMethod(0);
}
Evolution::getEvolutionManager()->addEvolutionWorld(world);
//Install Fitness
FitnessFunction *fitness = 0;
for(int i = 0; i < fitnessFunctionArg->getNumberOfEntries(); ++i) {
QList<QString> fitArguments = fitnessFunctionArg->getEntryParameters(i);
if((evoCount == 0 && fitArguments.size() <= 2)
|| (fitArguments.size() > 2
&& fitArguments.at(2).toInt() == evoCount))
{
if(fitArguments.size() > 1) {
fitness = Fitness::getFitnessManager()
->createFitnessFunctionFromPrototype(fitArguments.at(0), fitArguments.at(1));
if(fitness == 0) {
cerr << "Failed to create FitnessFunction prototype ["
<< fitArguments.at(0).toStdString().c_str() << endl;
}
}
if(fitness != 0) {
population->addFitnessFunction(fitness);
}
}
}
if(fitness == 0) {
QString scriptName = "Script";
if(scriptFitnessCounter > 0) {
scriptName += QString::number(scriptFitnessCounter);
}
scriptFitnessCounter++;
fitness = Fitness::getFitnessManager()
->createFitnessFunctionFromPrototype("Script", scriptName);
population->addFitnessFunction(fitness);
}
if(evoArguments.size() >= 1 && evoArguments.at(0).trimmed() == "ens3")
{
ENS3EvolutionAlgorithm evo(world);
}
else if(evoArguments.size() >= 1 && evoArguments.at(0).trimmed() == "neat") {
NeatAlgorithm evo(world);
}
else if(evoArguments.size() < 1 || (evoArguments.size() >= 1
&& (evoArguments.at(0).trimmed() == "mens" || evoArguments.at(0).trimmed() == "icone")))
{
ModularNeuroEvolution1 evo(world);
}
if(evoArguments.size() >= 2) {
world->getControlleAgentValue()->set(evoArguments.at(1));
}
//add individual statistics
StandardIndividualStatistics indStatistics(population);
NeuralNetworkIndividualStatistics neuroStatistics(population);
//Add neuralNetworkStatustic calculator.
Statistics::getStatisticsManager()->addGenerationStatistics(
new BasicNeuralNetworkStatistics(*population));
createDefaultWorld = false;
}
}
bool NerdNeuroEvoApplication::setupApplication()
{
bool ok = true;
//Choose Physics Engine (or external Yars simulator)
CommandLineArgument *physicsArg = new CommandLineArgument("physics", "p", "<physicsLibrary>",
"Uses <physicsLibrary> as physics engine. "
"Currently there are [ode, yars].", 1,0, true);
if(physicsArg->getNumberOfEntries() != 0 && !physicsArg->getEntryParameters(0).empty()
&& physicsArg->getEntryParameters(0).at(0).trimmed() == "yars")
{
YarsCommunication();
}
else if(physicsArg->getNumberOfEntries() != 0 && !physicsArg->getEntryParameters(0).empty()
&& physicsArg->getEntryParameters(0).at(0).trimmed() == "s2d")
{
Simple2D_Physics();
}
else {
//install ODE PhysicsLayer
ODE_Physics();
}
EvolutionSimulationPrototypes();
//install file parser
new SimpleObjectFileParser();
//Install file interface for HTTPS communication.
//new LoadAndStoreValueManagerPerGeneration();
//Install fitness prototypes
NeuroFitnessPrototypes();
//Install standard NN functions and objects.
StandardNeuralNetworkFunctions();
//Install constraint manager.
StandardConstraintCollection();
//Install neuro modules
NeuroModuleCollection();
StandardTagCollection();
//Enable NeuroModulation
NeuroModulatorManager::getInstance();
//Install network attribute characterizer
new NeuralNetworkAttributes();
new AutoStoreNetworksHelper();
//Install statistics logger to save the current statistics to a file.
new StatisticsLogger(Evolution::getEvolutionManager()->getEvolutionWorkingDirectoryValue());
new EvolutionTerminationTrigger();
//Install and initialize the settings logger (logging of settings history).
SettingsLogger *settingsLogger = new SettingsLogger();
settingsLogger->addValues("(?!.*/Evo/.*/Fitness/.*/Fitness/.*)(?!.*/Performance/.*)/Evo/.*/Algorithm/.*");
settingsLogger->addValues("(?!.*/Evo/.*/Fitness/.*/Fitness/.*)(?!.*/Performance/.*)/Evo/.*/Pop/.*");
settingsLogger->addValues("/Evo/.*/Fitness/.*/Fitness/CalculationMode");
settingsLogger->addValues("/Control/NumberOfSteps");
settingsLogger->addValues("/Control/NumberOfTries");
new TerminateTryCollisionRule();
new StepsPerSecondCounter();
new SimObjectGroupPrinter();
new SaveBestNetworksHandler(3);
//add motor model rotation
new ModelParameterRotator();
//allow neural networks for other agents outside of the evolution.
new NetworkAgentControlParser();
UniversalNeuroScriptLoader();
ScriptedModelLoader();
//Add plugin to calculate the open degrees of freedom of the network during evolution.
new NetworkDegreeOfFreedomCalculator();
if(!buildSimulationModel()) {
Core::log("NerdNeuroEvo: "
"Problem while building the simulation model.");
ok = false;
}
if(!buildEvolutionSystem()) {
Core::log("NerdNeuroEvo: "
"Problem while building the evolution system.");
ok = false;
}
mRunner = new EvolutionRunner();
return ok;
}
bool NetworkDynamicsPlotterApplication::setupApplication() {
bool ok = true;
//install network characterizer
new NeuralNetworkAttributes();
StandardTagCollection();
NeuroModuleCollection();
DynamicsPlotCollection();
if(mEnableSimulator) {
new SimObjectGroupPrinter();
//Choose Physics Engine (or external Yars simulator)
CommandLineArgument *physicsArg = new CommandLineArgument("physics", "p", "<physicsLibrary>",
"Uses <physicsLibrary> as physics engine. "
"Currently there are [ode, yars].", 1,0, true);
if(physicsArg->getNumberOfEntries() != 0 && !physicsArg->getEntryParameters(0).empty()
&& physicsArg->getEntryParameters(0).at(0).trimmed() == "yars")
{
YarsCommunication();
}
else if(physicsArg->getNumberOfEntries() != 0 && !physicsArg->getEntryParameters(0).empty()
&& physicsArg->getEntryParameters(0).at(0).trimmed() == "s2d")
{
Simple2D_Physics();
}
else {
//install ODE PhysicsLayer
ODE_Physics();
}
//install file parser
new SimpleObjectFileParser();
new StepsPerSecondCounter();
//Priovide the -net required to load a network for one or more agents.
new NetworkAgentControlParser();
new ModelParameterRotator();
ScriptedModelLoader();
}
UniversalNeuroScriptLoader();
//load a network if given.
CommandLineArgument *netArg = new CommandLineArgument("loadNetwork", "net", "<networkFile",
"Loads a NeuralNetwork to the NetworkEditor",
1, 0, false, true);
//Only provide a -net to load a network (or create a default in case no -net is given) when
//NOT using a physical simulation.
if(!mEnableSimulator) {
if(netArg->getNumberOfEntries() > 0) {
QStringList files = netArg->getEntryParameters(0);
if(files.size() > 0) {
QString errorMessage;
QList<QString> warnings;
NeuralNetwork *net = NeuralNetworkIO::createNetworkFromFile(files.at(0),
&errorMessage, &warnings);
if(errorMessage != "") {
Core::log("Error while loading net: " + errorMessage, true);
}
if(!warnings.empty()) {
for(QListIterator<QString> j(warnings); j.hasNext();) {
Core::log("Warning: " + j.next(), true);
}
}
if(dynamic_cast<ModularNeuralNetwork*>(net) != 0) {
Neuro::getNeuralNetworkManager()->addNeuralNetwork(net);
}
}
}
else {
Neuro::getNeuralNetworkManager()->addNeuralNetwork(new ModularNeuralNetwork(
AdditiveTimeDiscreteActivationFunction(),
TransferFunctionTanh(),
SimpleSynapseFunction()));
}
}
mExecutionLoop = new PlotterExecutionLoop();
new MatlabExporter();
return ok;
}
bool NerdNeuroSimApplication::setupApplication()
{
//install simulation recorder
new NetworkSimulationRecorder();
// StandardConstraintCollection();
// StandardNeuralNetworkFunctions();
NeuroAndSimEvaluationStandardGuiApplication::setupApplication();
//Install network characterization
new NeuralNetworkAttributes();
//Choose Physics Engine (or external Yars simulator)
CommandLineArgument *physicsArg = new CommandLineArgument("physics", "p", "<physicsLibrary>",
"Uses <physicsLibrary> as physics engine. "
"Currently there are [ode, yars].", 1,0, true);
if(physicsArg->getNumberOfEntries() != 0 && !physicsArg->getEntryParameters(0).empty()
&& physicsArg->getEntryParameters(0).at(0).trimmed() == "yars")
{
YarsCommunication();
}
else if(physicsArg->getNumberOfEntries() != 0 && !physicsArg->getEntryParameters(0).empty()
&& physicsArg->getEntryParameters(0).at(0).trimmed() == "s2d")
{
Simple2D_Physics();
}
else {
//install ODE PhysicsLayer
ODE_Physics();
}
new StepsPerSecondCounter();
EvolutionSimulationPrototypes();
//install file parser
new SimpleObjectFileParser();
//install neural network control parser.
new NetworkAgentControlParser();
new ActivationFrequencyCalculator("A");
//add motor model rotation
new ModelParameterRotator();
//Install neuro modules
NeuroModuleCollection();
StandardTagCollection();
//Enable NeuroModulation
NeuroModulatorManager::getInstance();
Fitness::install();
new FitnessLogger();
NeuroFitnessPrototypes();
Statistics::getStatisticsManager();
UniversalNeuroScriptLoader();
ScriptedModelLoader();
//Add plugin to calculate the open degrees of freedom of the network during evolution.
new NetworkDegreeOfFreedomCalculator();
//add simple fitness logger
CommandLineArgument *useSimpleFitnessLogger =
new CommandLineArgument("simpleFitnessLogger", "sfl", "<logfile name>",
"Logs all fitness values of all fitness functions "
"incrementally to a file.", 1, 0, true, false);
if(useSimpleFitnessLogger->getNumberOfEntries() != 0
&& !useSimpleFitnessLogger->getEntryParameters(0).empty())
{
new SimpleFitnessLogger(useSimpleFitnessLogger->getEntryParameters(0).at(0));
}
else if(NerdConstants::HackMode == true) { //HACK MODE remove!
new SimpleFitnessLogger("simpleFitnessLog.txt");
}
return true;
}
