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NeuroEvolution.h
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef NEUROEVOLUTION_H_
20 #define NEUROEVOLUTION_H_
21 
31 #include "NeuroEvoPopulation.h"
32 #include "NeuroEvoMember.h"
33 #include <fstream>
34 
36 {
37 public:
38  NeuroEvolution(std::string suffix, std::string config = "config.ini", std::string path = "");
39  ~NeuroEvolution();
40  void mutateEveryController();
41  void combineAndMutate();
42  void orderAllPopulations();
43  void evaluatePopulation();
44  std::vector< NeuroEvoMember *> nextSetOfControllers();
45  void updateScores(std::vector<double> scores);
46  const std::string suffix;
48  std::string resourcePath;
49 private:
50  int populationSize;
51  int numberOfControllers;
52  std::tr1::ranlux64_base_01 eng;
53  std::vector< NeuroEvoPopulation *> populations;
54  std::vector <NeuroEvoMember *> selectedControllers;
55  std::vector< std::vector< double > > scoresOfTheGeneration;
56 // double minValue;
57 // double maxValue;
58  double leniencyCoef;
59  bool seeded;
60  bool coevolution;
61  std::ofstream evolutionLog;
62  int currentTest;
63  int numberOfTestsBetweenGenerations;
64  int generationNumber;
65  int numberOfElementsToMutate;
66  int numberOfChildren;
67 };
68 
69 #endif /* NEUROEVOLUTION_H_ */
Single set of params for NeuroEvolution.
void orderAllPopulations()
std::string resourcePath
A set of members that gets updated and mutated.