void eval(Indiv& ind)
{
ind.nn().simplify();
nb_coll=0;
speed=0;
lin_speed=0;
stop_eval=false;
#ifdef VERBOSE
std::cout<<"Eval ..."<<std::endl;
#endif
typedef simu::Fastsim<Params> simu_t;
simu_t simu;
assert(simu.map()!=NULL);
// init
init_simu(simu);
ind.nn().init();
#ifdef SAVETRAJ
std::ostringstream straj;
straj<<"# map size "<<simu.map()->get_real_w()<<" "<<simu.map()->get_real_h()<<std::endl;
straj<<"# "<<Params::simu::map_name()<<std::endl;
#endif
time=0;
int success=0;
size_t i;
// *** Main Loop ***
for (i = 0; i < Params::simu::nb_steps && !stop_eval;)
{
// Number of steps the robot is evaluated
time++;
// Update robot info & caracs
simu.refresh();
#ifdef VISU
if (1) {
#elif defined(NO_VISU)
if (0) {
#else
if (this->mode() == fit::mode::view) {
#endif
simu.refresh_view();
#ifdef SAVEBMP
// WARNING: use with caution as it will generate many BMP...
std::ostringstream os;
os<<"img_"<<std::setfill('0')<<std::setw(6)<<time<<".bmp";
std::cout<<"Saving image: "<<os.str()<<std::endl;
if (simu.display().save_BMP(os.str().c_str())!=0) {
std::cerr<<"ERROR, can't save file: "<<os.str()<<std::endl;
}
#endif
}
// Get inputs
get_inputs(simu);
// Step neural network -- outf is the output vector.
step_check(ind.nn());
// move the robot and check for collision and if is still
move_check(simu);
#ifdef SAVETRAJ
straj<<simu.robot().get_pos().get_x()<<" "<<simu.robot().get_pos().get_y()<<" "<<simu.robot().get_pos().theta()<<std::endl;
#endif
if ((simu.robot().get_pos().get_x()>simu.map()->get_real_w()*Params::fitness::min_x)
&&(simu.robot().get_pos().get_x()<simu.map()->get_real_w()*Params::fitness::max_x)
&&(simu.robot().get_pos().get_y()>simu.map()->get_real_h()*Params::fitness::min_y)
&&(simu.robot().get_pos().get_y()<simu.map()->get_real_h()*Params::fitness::max_y)) {
//std::cout<<"The robot has found the goal;"<<std::endl;
success=1;
if (this->mode() != fit::mode::view)
stop_eval=1;
}
#ifdef NOVELTY
if ((i>0)&&(i%(int)(Params::simu::nb_steps/Params::novelty::nb_pos)==0))
pos_bd.push_back(simu.robot().get_pos());
#endif
// loop forever if we are in the visualization mode
if (this->mode() != fit::mode::view)
i++;
}
#ifdef NOVELTY
for (unsigned int j=pos_bd.size();j<Params::novelty::nb_pos;j++)
pos_bd.push_back(simu.robot().get_pos());
#endif
end_pos=simu.robot().get_pos();
Posture goal(simu.map()->get_real_w()*(Params::fitness::min_x+Params::fitness::max_x)/2.0,
simu.map()->get_real_h()*(Params::fitness::min_y+Params::fitness::max_y)/2.0,
0);
// Compute the fitness value
#if defined(DIVERSITY) || defined(NOVELTY)
this->_objs.resize(2);
#endif
#if defined(FITDIST)
this->_objs[0] = -end_pos.dist_to(goal);
this->_value = this->_objs[0] ;
#else
this->_objs[0] = success;
this->_value = success;
#endif
//std::cout<<"End_pos | "<<end_pos.get_x()<<" "<<end_pos.get_y()<<" | "<<end_pos.get_x()/simu.map()->get_real_w()<<" "<<end_pos.get_y()/simu.map()->get_real_h()<<std::endl;
#ifdef VERBOSE
static int nbeval=0;
std::cout<<"fit="<<this->_objs[0]<<" nbeval="<<nbeval<<std::endl;
nbeval++;
#endif
#ifdef SAVETRAJ
traj=straj.str();
#endif
} // *** end of eval ***
void eval(Indiv& ind)
{
ind.nn().simplify();
nb_coll=0;
speed=0;
lin_speed=0;
stop_eval=false;
#ifdef VERBOSE
std::cout<<"Eval ..."<<std::endl;
#endif
typedef simu::Fastsim<Params> simu_t;
simu_t simu;
assert(simu.map()!=NULL);
// init
init_simu(simu);
ind.nn().init();
time=0;
// *** Main Loop ***
for (size_t i = 0; i < Params::simu::nb_steps && !stop_eval;)
{
// Number of steps the robot is evaluated
time++;
// Update robot info & caracs
simu.refresh();
#ifdef VISU
if (1) {
#elif defined(NO_VISU)
if (0) {
#else
if (this->mode() == fit::mode::view) {
#endif
simu.refresh_view();
#ifdef SAVEBMP
// WARNING: use with caution as it will generate many BMP...
std::ostringstream os;
os<<res_dir<<"/img_"<<std::setfill('0')<<std::setw(6)<<time<<".bmp";
std::cout<<"Saving image: "<<os.str()<<std::endl;
if (simu.display().save_BMP(os.str().c_str())!=0) {
std::cerr<<"ERROR, can't save file: "<<os.str()<<std::endl;
}
#endif
}
// Get inputs
get_inputs(simu);
// Step neural network -- outf is the output vector.
step_check(ind.nn());
// move the robot and check for collision and if is still
move_check(simu);
// loop forever if we are in the visualization mode
if (this->mode() != fit::mode::view)
i++;
}
#if defined(FIT1)
// Compute the fitness value
this->_objs[0] = 1.0/(float)(1+nb_coll);
this->_value = 1.0/(float)(1+nb_coll);
#elif defined(FIT2)
// Compute the fitness value
this->_objs[0] = (speed/(float)Params::simu::nb_steps)*1.0/(float)(1+nb_coll);
this->_value = (speed/(float)Params::simu::nb_steps)*1.0/(float)(1+nb_coll);
#elif defined(FIT3)
// Compute the fitness value
this->_objs[0] = (lin_speed/(float)Params::simu::nb_steps)*1.0/(float)(1+nb_coll);
this->_value = (lin_speed/(float)Params::simu::nb_steps)*1.0/(float)(1+nb_coll);
#endif
#ifdef VERBOSE
static int nbeval=0;
std::cout<<"fit="<<this->_objs[0]<<" nbeval="<<nbeval<<std::endl;
nbeval++;
#endif
} // *** end of eval ***