void mainEvolutionLoop() {
#ifdef EMSCRIPTEN
std::stringstream ss;
double best, average, stddev;
population->getStat(best, average, stddev);
ss << "{best : " << best << ", average : " << average << ", stddev : "
<< stddev << ", generation : " << generation << "}";
sendJSEvent("stats", ss.str());
#endif
std::cout << "mainEvolutionLoop" << std::endl;
if (!log->logGeneration(generation, *population.get())) {
exitRobogen(EXIT_FAILURE);
}
generation++;
if (generation <= conf->numGenerations) {
std::cout << "Generation " << generation << std::endl;
children.clear();
// create children
if (neat) {
//neatPopulation->Epoch();
if(!neatContainer->produceNextGeneration(population)) {
std::cerr << "Producing next generation from NEAT failed."
<< std::endl;
exitRobogen(EXIT_FAILURE);
}
population->evaluate(robotConf, sockets);
} else {
selector->initPopulation(population);
unsigned int numOffspring = 0;
while (numOffspring < conf->lambda) {
std::pair<boost::shared_ptr<RobotRepresentation>,
boost::shared_ptr<RobotRepresentation> > selection;
if (!selector->select(selection.first)) {
std::cerr << "Selector::select() failed." << std::endl;
exitRobogen(EXIT_FAILURE);
}
unsigned int tries = 0;
do {
if (tries > 10000) {
std::cerr << "Selecting second parent failed after "
"10000 tries, giving up.";
exitRobogen(EXIT_FAILURE);
}
if (!selector->select(selection.second)) {
std::cerr << "Selector::select() failed." << std::endl;
exitRobogen(EXIT_FAILURE);
}
tries++;
} while (selection.first == selection.second);
std::vector<boost::shared_ptr<RobotRepresentation> > offspring
= mutator->createOffspring(selection.first,
selection.second);
// no crossover, or can fit both new individuals
if ( (numOffspring + offspring.size()) <= conf->lambda ) {
children.insert(children.end(), offspring.begin(),
offspring.end() );
numOffspring += offspring.size();
} else { // crossover, but can only fit one
children.push_back(offspring[0]);
numOffspring++;
}
}
children.evaluate(robotConf, sockets);
}
#ifndef EMSCRIPTEN
triggerPostEvaluate();
#endif
} else {
#ifdef EMSCRIPTEN
sendJSEvent("evolutionTerminated", "{}");
#endif
}
}
