def generate(self, visualise=False) -> BeamNGMember:
control_nodes = self.generate_control_nodes(visualise)
sample_nodes = catmull_rom(control_nodes, self.num_spline_nodes)
road = BeamNGMember(control_nodes, sample_nodes, self.num_spline_nodes,
self.road_bbox)
while not road.is_valid():
control_nodes = self.generate_control_nodes(visualise)
sample_nodes = catmull_rom(control_nodes, self.num_spline_nodes)
road = BeamNGMember(control_nodes, sample_nodes,
self.num_spline_nodes, self.road_bbox)
return road
def mutate_gene(self, index, xy_prob=0.5) -> Tuple[int, int]:
gene = list(self.road.control_nodes[index])
mut_value = random.randint(self.lower_bound, self.higher_bound)
if mut_value == 0:
mut_value += 1
c = 0
if random.random() < xy_prob:
c = 1
gene[c] += mut_value
self.road.control_nodes[index] = tuple(gene)
self.road.sample_nodes = catmull_rom(self.road.control_nodes,
self.road.num_spline_nodes)
return c, mut_value
def undo_mutation(self, index, c, mut_value):
gene = list(self.road.control_nodes[index])
gene[c] -= mut_value
self.road.control_nodes[index] = tuple(gene)
self.road.sample_nodes = catmull_rom(self.road.control_nodes,
self.road.num_spline_nodes)