NeuroEvoMember.cpp

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#include "NeuroEvoMember.h"
#include "neuralNet/Neural Network v2/neuralNetwork.h"
#include <fstream>
#include <iostream>
#include <assert.h>
#include <stdexcept>

using namespace std;

NeuroEvoMember::NeuroEvoMember(configuration config)
{
                this->numInputs=config.getintvalue("numberOfStates");
                this->numOutputs=config.getintvalue("numberOfActions");
    assert(numOutputs > 0);
                cout<<"creating NN"<<endl;
                if(numInputs>0)
                                nn = new neuralNetwork(numInputs,numInputs*2,numOutputs);
                else
                {
                                statelessParameters.resize(numOutputs);
                                for(int i=0;i<numOutputs;i++)
                                                statelessParameters[i]=rand()*1.0/RAND_MAX;
                }
                maxScore=-1000;
}

NeuroEvoMember::~NeuroEvoMember()
{
                delete nn;
}

void NeuroEvoMember::mutate(std::tr1::ranlux64_base_01 *eng){
                std::tr1::uniform_real<double> unif(0, 1);
                if(unif(*eng)  > 0.5)
                {
                                return;
                }
                //TODO: for each weight of the NN with 0.5 probability mutate it

                if(numInputs>0)
                                this->nn->mutate(eng);
                else
                {
                                double dev = 3.0 / 100.0;   // 10 percent of interval 0-1
                                std::tr1::normal_distribution<double> normal(0, dev);
                                for(std::size_t i=0;i<statelessParameters.size();i++)
                                {
                                                if(unif(*eng)  > 0.5)
                                                {
                                                                continue;
                                                }
                                                double mutAmount = normal(*eng);
//                                              cout<<"param: "<<i<<" dev: "<<dev<<" rand: "<<mutAmount<<endl;
                                                double newParam= statelessParameters[i] + mutAmount;
                                                if(newParam < 0.0)
                                                                statelessParameters[i] = 0.0;
                                                else if(newParam > 1.0)
                                                                statelessParameters[i] = 1.0;
                                                else
                                                                statelessParameters[i] =newParam;
                                }

                }
}

void NeuroEvoMember::copyFrom(NeuroEvoMember* otherMember)
{
                if(numInputs>0)
                {
                                this->nn->copyWeightFrom(otherMember->getNn());
                                this->maxScore=-10000;
                                this->pastScores.clear();
                }
                else
                {
                                this->statelessParameters=otherMember->statelessParameters;
                }
}

void NeuroEvoMember::copyFrom(NeuroEvoMember *otherMember1, NeuroEvoMember *otherMember2, std::tr1::ranlux64_base_01 *eng)
{
    if(numInputs>0)
    {
        this->nn->combineWeights(otherMember1->getNn(), otherMember2->getNn(), eng);
        this->maxScore=-10000;
        this->pastScores.clear();
    }
    else
    {
        std::tr1::uniform_real<double> unif(0, 1);
        for (int i = 0; i < numOutputs; i++)
        {
            if (unif(*eng) > 0.5)
            {
                this->statelessParameters[i] = otherMember1->statelessParameters[i];
            }
            else
            {
                this->statelessParameters[i] = otherMember2->statelessParameters[i];
            }
        }
    }    
}

void NeuroEvoMember::saveToFile(const char * outputFilename)
{
                if(numInputs > 0 )
                                this->getNn()->saveWeights(outputFilename);
                else
                {
                                ofstream ss(outputFilename);
                                for(std::size_t i=0;i<statelessParameters.size();i++)
                                {
                                                ss<<statelessParameters[i];
                                                if(i!=statelessParameters.size()-1)
                                                                ss<<",";
                                }
                                ss.close();
                }
}

void NeuroEvoMember::loadFromFile(const char * outputFilename)
{
                if(numInputs > 0 )
                                this->getNn()->loadWeights(outputFilename);
                else
                {
                                //cout<<"loading parameters from file "<<outputFilename<<endl;
                                ifstream ss(outputFilename);
                                int i=0;
                                string value;
#if (0)
                                // Disable definition of unused variable to suppress compiler warning
                                double valueDbl;
#endif
                                if(ss.is_open())
                                {
                                                while(!ss.eof())
                                                {
                                                                //cout<<"success opening file"<<endl;
                                                                if(getline ( ss, value, ',' )>0)
                                                                {
                                                                                //cout<<"value read as string: "<<value<<endl;
                                                                                statelessParameters[i++]=atof(value.c_str());
                                                                                //cout<<statelessParameters[i-1]<<",";
                                                                }
                                                }
                                                //cout<<"reading complete"<<endl;
                                                cout<<endl;
                                                ss.close();
                                }
                                else
                                {
                                                cout << "File of name " << outputFilename << " does not exist" << std::endl;
                                                cout << "Try turning learning on in config.ini to generate parameters" << std::endl;
                                                throw std::invalid_argument("Parameter file does not exist");
                                }
                                //cout<<"reading complete"<<endl;
                                //cout<<endl;
                                ss.close();
                }

}