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Add 2m ground circles. Make population config printable. Add timeseries

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plot of individual fitnesses of each generation.
This commit is contained in:
Benelot
2016-09-12 16:36:37 +02:00
parent 88edbf8524
commit 229d2501af
1 changed files with 75 additions and 12 deletions
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87
examples/Evolution/NN3DWalkers.cpp
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@@ -33,6 +33,7 @@ class NNWalker;
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../Utils/b3ReferenceFrameHelper.hpp"
#include "../RenderingExamples/TimeSeriesCanvas.h"
static btScalar gRootBodyRadius = 0.25f;
static btScalar gRootBodyHeight = 0.1f;
@@ -111,9 +112,11 @@ class NN3DWalkersExample : public CommonRigidBodyBase
btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;
TimeSeriesCanvas* m_timeSeriesCanvas;
public:
NN3DWalkersExample(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper), m_Time(0),m_motorStrength(0.5f),m_targetFrequency(3),m_targetAccumulator(0),m_evaluationsQty(0),m_nextReaped(0)
:CommonRigidBodyBase(helper), m_Time(0),m_motorStrength(0.5f),m_targetFrequency(3),m_targetAccumulator(0),m_evaluationsQty(0),m_nextReaped(0),m_timeSeriesCanvas(0)
{
}
@@ -152,6 +155,8 @@ public:
void scheduleEvaluations();
void drawMarkings();
// Reaper
void rateEvaluations();
@@ -170,6 +175,8 @@ public:
NNWalker* getNextReaped();
void printWalkerConfigs();
};
static NN3DWalkersExample* nn3DWalkers = NULL;
@@ -639,6 +646,12 @@ void NN3DWalkersExample::initPhysics()
btVector3 offset(0,0,0);
spawnWalker(offset, false);
}
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,300,200, "Fitness Performance");
m_timeSeriesCanvas ->setupTimeSeries(40, NUM_WALKERS*EVALUATION_TIME, 0);
for(int i = 0; i < NUM_WALKERS ; i++){
m_timeSeriesCanvas->addDataSource(" ", 100*i/NUM_WALKERS,100*(NUM_WALKERS-i)/NUM_WALKERS,100*(i)/NUM_WALKERS);
}
}
@@ -704,6 +717,9 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
m_motorStrength *= 1.1f;
return true;
break;
case 'l':
printWalkerConfigs();
break;
default:
break;
}
@@ -744,7 +760,7 @@ class CommonExampleInterface* ET_NN3DWalkersCreateFunc(struct CommonExampleOptio
bool fitnessComparator (const NNWalker* a, const NNWalker* b)
{
return a->getFitness() > b->getFitness();
return a->getFitness() > b->getFitness(); // sort walkers descending
}
void NN3DWalkersExample::rateEvaluations(){
@@ -753,6 +769,11 @@ void NN3DWalkersExample::rateEvaluations(){
b3Printf("Best performing walker: %f meters", btSqrt(m_walkersInPopulation[0]->getDistanceFitness()));
for(int i = 0; i < m_walkersInPopulation.size();i++){
m_timeSeriesCanvas->insertDataAtCurrentTime(btSqrt(m_walkersInPopulation[i]->getDistanceFitness()),0,true);
}
m_timeSeriesCanvas->nextTick();
for(int i = 0; i < m_walkersInPopulation.size();i++){
m_walkersInPopulation[i]->setEvaluationTime(0);
}
@@ -781,12 +802,12 @@ NNWalker* NN3DWalkersExample::getNextReaped() {
m_nextReaped++;
}
// if(m_walkersInPopulation[(m_walkersInPopulation.size()-1) - m_nextReaped+1]->isReaped()){
if(m_walkersInPopulation[(m_walkersInPopulation.size()-1) - m_nextReaped+1]->isReaped()){
return m_walkersInPopulation[(m_walkersInPopulation.size()-1) - m_nextReaped+1];
// }
// else{
// return NULL; // we did it wrongly
// }
}
else{
return NULL; // we asked for too many
}
}
@@ -805,7 +826,7 @@ void NN3DWalkersExample::sow() {
mutate(m_walkersInPopulation[i], MUTATION_RATE / m_walkersInPopulation.size() * SOW_MUTATION_QTY * (i-m_walkersInPopulation.size()*SOW_ELITE_QTY));
}
for(int i = 0; i < m_walkersInPopulation.size() * (REAP_QTY-SOW_CROSSOVER_QTY);i++){
for(int i = 0; i < (m_walkersInPopulation.size()-1) * (REAP_QTY-SOW_CROSSOVER_QTY);i++){
sow++;
b3Printf("%i Walker(s) sown.",sow);
NNWalker* reaped = getNextReaped();
@@ -848,6 +869,8 @@ void NN3DWalkersExample::update(const double timeSinceLastTick) {
updateEvaluations(timeSinceLastTick); /**!< We update all evaluations that are in the loop */
scheduleEvaluations(); /**!< Start new evaluations and finish the old ones. */
drawMarkings();
}
void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
@@ -865,10 +888,6 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
{
if(m_walkersInPopulation[i]->isInEvaluation()){
m_walkersInPopulation[i]->setEvaluationTime(m_walkersInPopulation[i]->getEvaluationTime()+delta); // increase evaluation time
btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
char performance[10];
sprintf(performance, "%.2f m", btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
m_guiHelper->drawText3D(performance,walkerPosition.x(),walkerPosition.y()+1,walkerPosition.z(),3);
}
}
@@ -941,3 +960,47 @@ void NN3DWalkersExample::scheduleEvaluations() {
b3Printf("### A new generation started. ###");
}
}
void NN3DWalkersExample::drawMarkings() {
for(int i = 0; i < m_walkersInPopulation.size();i++) // draw current distance plates of moving walkers
{
if(m_walkersInPopulation[i]->isInEvaluation()){
btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
char performance[10];
sprintf(performance, "%.2f m", btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
m_guiHelper->drawText3D(performance,walkerPosition.x(),walkerPosition.y()+1,walkerPosition.z(),3);
}
}
for(int i = 2; i < 50; i+=2){ // draw distance circles
if(m_dynamicsWorld->getDebugDrawer()){
m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
}
}
}
void NN3DWalkersExample::printWalkerConfigs(){
char configString[25 + NUM_WALKERS*BODYPART_COUNT*JOINT_COUNT*(15+1) + NUM_WALKERS*4 + 1]; // 15 precision + [],\n
char* runner = configString;
sprintf(runner,"Population configuration:");
runner +=25;
for(int i = 0;i < NUM_WALKERS;i++) {
runner[0] = '\n';
runner++;
runner[0] = '[';
runner++;
for(int j = 0; j < BODYPART_COUNT*JOINT_COUNT;j++) {
sprintf(runner,"%.15f", m_walkersInPopulation[i]->getSensoryMotorWeights()[j]);
runner +=15;
if(j + 1 != BODYPART_COUNT*JOINT_COUNT){
runner[0] = ',';
}
else{
runner[0] = ']';
}
runner++;
}
}
runner[0] = '\0';
b3Printf(configString);
}