class Cog(object):
"""
The basic units of which gearboxes are composed
Cogs are named for their similarity to clockwork cogwheels.
They are simple and do the same task over and over, but by
virtue of how they are connected to their fellows, they
collectively bring about interesting behavior.
In a conflicting metaphor, the inputs to a cog
are similar to electrical cables: they carry activity
signals that vary over time.
Each cog contains two important parts, a daisychain and a ziptie.
The daisychain is an object that builds cables into short sequences,
and the ziptie is an object that takes the resulting chains
and performs clustering on them, grouping them into bundles.
During upward processing, cable activities are used to train
the daisychain and ziptie, making new bundles, maturing existing
bundles, and calculating the activity in bundle.
During downward processing,
the daisychain and ziptie use the bundle activity goals from
the gearbox above to create goals for the cables.
"""
def __init__(self, max_cables, max_bundles, max_chains_per_bundle=None,
name='anonymous', level=0):
"""
Initialize the cogs with a pre-determined maximum size
"""
self.name = name
self.max_cables = max_cables
self.max_bundles = max_bundles
if max_chains_per_bundle is None:
max_chains_per_bundle = int(max_cables ** 2 / max_bundles)
self.daisychain = DaisyChain(max_cables, name=name)
if max_bundles > 0:
self.ziptie = ZipTie(max_cables **2, max_bundles,
max_cables_per_bundle=max_chains_per_bundle,
name=name)
def step_up(self, cable_activities, enough_cables):
"""
Cable_activities percolate upward through daisychain and ziptie
"""
# TODO: fix this so that cogs can gracefully handle more cables
# or else never be assigned them in the first place.
# Enable them to grow dynamically, rather than preallocated,
# if that can be shown to improve performance.
if cable_activities.size > self.max_cables:
cable_activities = cable_activities[:self.max_cables, :]
print ''.join(['----- Number of max cables exceeded in',
self.name, ' -----'])
chain_activities = self.daisychain.step_up(cable_activities)
# Wait to start training the cog's bundles until the cog's
# input cables are adequately populated. This is the job
# of the gearbox's ziptie.
if enough_cables is True:
bundle_activities = self.ziptie.step_up(chain_activities)
else:
bundle_activities = np.zeros((0,1))
# TODO: Check whether this is necessary
bundle_activities = tools.pad(bundle_activities, (self.max_bundles, 0))
return bundle_activities
def step_down(self, bundle_goals):
"""
Bundle_goals percolate downward
"""
chain_goals = self.ziptie.step_down(bundle_goals)
cable_goals = self.daisychain.step_down(chain_goals)
return cable_goals
def get_index_projection(self, bundle_index):
"""
Project a bundle down through the ziptie and daisychain
"""
chain_projection = self.ziptie.get_index_projection(bundle_index)
cable_projection = self.daisychain.get_index_projection(
chain_projection)
return cable_projection
def fraction_filled(self):
"""
How full is the set of cables for this cog?
"""
return float(self.daisychain.num_cables) / float(self.max_cables)
def num_bundles(self):
"""
How many bundles have been created in this cog?
"""
return self.ziptie.num_bundles
def visualize(self):
"""
Show the internal state of the daisychain and ziptie
"""
self.daisychain.visualize()
if self.max_bundles > 0:
self.ziptie.visualize()
class Block(object):
"""
The building block of which the agent is composed
Blocks are arranged hierarchically within the agent.
The agent begins with only one block, and creates additional
blocks in a tower arrangement as lower ones mature.
The block's input channels (cables) are organized
into clusters (bundles)
whose activities are passed up to the next block in the hierarchy.
Each block performs the same two functions,
1) a step_up
where cable activities are converted to bundle activities and
passed up the tower and
2) a step_down where bundle activity goals are passed back down
and converted into cable activity goals.
Internally, a block contains a number of cogs that work in parallel
to convert cable activities into bundle activities and back again.
"""
def __init__(self, min_cables, name='anonymous', level=0):
""" Initialize the level, defining the dimensions of its cogs """
self.max_cables = int(2 ** np.ceil(np.log2(min_cables)))
self.max_cables_per_cog = 8
self.max_bundles_per_cog = 4
self.max_cogs = self.max_cables / self.max_bundles_per_cog
self.max_bundles = self.max_cogs * self.max_bundles_per_cog
self.name = name
self.level = level
ziptie_name = ''.join(('ziptie_', self.name))
self.ziptie = ZipTie(self.max_cables, self.max_cogs,
max_cables_per_bundle=self.max_cables_per_cog,
mean_exponent=-2, name=ziptie_name)
self.cogs = []
# TODO: only create cogs as needed
for cog_index in range(self.max_cogs):
self.cogs.append(Cog(self.max_cables_per_cog,
self.max_bundles_per_cog,
max_chains_per_bundle=self.max_cables_per_cog,
name='cog'+str(cog_index),
level=self.level))
self.cable_activities = np.zeros((self.max_cables, 1))
self.hub_cable_goals = np.zeros((self.max_cables, 1))
self.fill_fraction_threshold = .7
self.ACTIVITY_DECAY_RATE = 1.# real, 0 < x < 1
# Constants for adaptively rescaling the cable activities
self.max_vals = np.zeros((self.max_cables, 1))
self.min_vals = np.zeros((self.max_cables, 1))
self.RANGE_DECAY_RATE = 10 ** -5
def step_up(self, new_cable_activities):
""" Find bundle_activities that result from new_cable_activities """
# Condition the cable activities to fall between 0 and 1
if new_cable_activities.size < self.max_cables:
new_cable_activities = tools.pad(new_cable_activities,
(self.max_cables, 1))
self.min_vals = np.minimum(new_cable_activities, self.min_vals)
self.max_vals = np.maximum(new_cable_activities, self.max_vals)
spread = self.max_vals - self.min_vals
new_cable_activities = ((new_cable_activities - self.min_vals) /
(self.max_vals - self.min_vals + tools.EPSILON))
self.min_vals += spread * self.RANGE_DECAY_RATE
self.max_vals -= spread * self.RANGE_DECAY_RATE
# Update cable_activities, incorporating sensing dynamics
self.cable_activities = tools.bounded_sum([
new_cable_activities,
self.cable_activities * (1. - self.ACTIVITY_DECAY_RATE)])
# Update the map from self.cable_activities to cogs
self.ziptie.step_up(self.cable_activities)
# Process the upward pass of each of the cogs in the block
self.bundle_activities = np.zeros((0, 1))
for cog_index in range(len(self.cogs)):
# Pick out the cog's cable_activities, process them,
# and assign the results to block's bundle_activities
cog_cable_activities = self.cable_activities[
self.ziptie.get_index_projection(
cog_index).ravel().astype(bool)]
# Cogs are only allowed to start forming bundles once
# the number of cables exceeds the fill_fraction_threshold
enough_cables = (self.ziptie.cable_fraction_in_bundle(cog_index)
> self.fill_fraction_threshold)
cog_bundle_activities = self.cogs[cog_index].step_up(
cog_cable_activities, enough_cables)
self.bundle_activities = np.concatenate((self.bundle_activities,
cog_bundle_activities))
# Goal fulfillment and decay
self.hub_cable_goals -= self.cable_activities
self.hub_cable_goals *= self.ACTIVITY_DECAY_RATE
self.hub_cable_goals = np.maximum(self.hub_cable_goals, 0.)
return self.bundle_activities
def step_down(self, bundle_goals):
""" Find cable_activity_goals, given a set of bundle_goals """
bundle_goals = tools.pad(bundle_goals, (self.max_bundles, 1))
cable_goals = np.zeros((self.max_cables, 1))
self.surprise = np.zeros((self.max_cables, 1))
# Process the downward pass of each of the cogs in the level
cog_index = 0
for cog in self.cogs:
# Gather the goal inputs for each cog
cog_bundle_goals = bundle_goals[
cog_index * self.max_bundles_per_cog:
cog_index + 1 * self.max_bundles_per_cog,:]
# Update the downward outputs for the level
cable_goals_by_cog = cog.step_down(cog_bundle_goals)
cog_cable_indices = self.ziptie.get_index_projection(
cog_index).ravel().astype(bool)
cable_goals[cog_cable_indices] = np.maximum(
cable_goals_by_cog, cable_goals[cog_cable_indices])
#self.reaction[cog_cable_indices] = np.maximum(
# tools.pad(cog.reaction, (cog_cable_indices[0].size, 0)),
# self.reaction[cog_cable_indices])
self.surprise[cog_cable_indices] = np.maximum(
cog.surprise, self.surprise[cog_cable_indices])
cog_index += 1
#self.hub_cable_goals = tools.bounded_sum([self.hub_cable_goals,
# cable_goals])
return self.hub_cable_goals
def get_index_projection(self, bundle_index):
""" Represent one of the bundles in terms of its cables """
# Find which cog it belongs to and which output it corresponds to
cog_index = int(bundle_index / self.max_bundles_per_cog)
cog_bundle_index = bundle_index - cog_index * self.max_bundles_per_cog
# Find the projection to the cog's own cables
cog_cable_indices = self.ziptie.get_index_projection(
cog_index).ravel().astype(bool)
num_cables_in_cog = np.sum(cog_cable_indices)
cog_projection = self.cogs[cog_index].get_index_projection(
cog_bundle_index)
# Then re-sort them to the block's cables
projection = np.zeros((self.max_cables, 2))
projection[cog_cable_indices,:] = cog_projection[:num_cables_in_cog,:]
return projection
def bundles_created(self):
total = 0.
for cog in self.cogs:
# Check whether all cogs have created all their bundles
total += cog.num_bundles()
if np.random.random_sample() < 0.01:
print total, 'bundles in', self.name, ', max of', self.max_bundles
return total
def visualize(self):
""" Show what's going on inside the level """
self.ziptie.visualize()
#for cog in self.cogs:
# cog.visualize()
return
class Block(object):
"""
The building block of which the agent is composed
Blocks are arranged hierarchically within the agent.
The agent begins with only one block, and creates additional
blocks in a tower arrangement as lower ones mature.
The block's input channels (cables) are organized
into clusters (bundles)
whose activities are passed up to the next block in the hierarchy.
Each block performs the same two functions,
1) a step_up
where cable activities are converted to bundle activities and
passed up the tower and
2) a step_down where bundle activity goals are passed back down
and converted into cable activity goals.
Internally, a block contains a number of cogs that work in parallel
to convert cable activities into bundle activities and back again.
"""
def __init__(self, min_cables, name='anonymous', level=0):
""" Initialize the level, defining the dimensions of its cogs """
self.max_cables = int(2**np.ceil(np.log2(min_cables)))
self.max_cables_per_cog = 8
self.max_bundles_per_cog = 4
self.max_cogs = self.max_cables / self.max_bundles_per_cog
self.max_bundles = self.max_cogs * self.max_bundles_per_cog
self.name = name
self.level = level
ziptie_name = ''.join(('ziptie_', self.name))
self.ziptie = ZipTie(self.max_cables,
self.max_cogs,
max_cables_per_bundle=self.max_cables_per_cog,
mean_exponent=-2,
name=ziptie_name)
self.cogs = []
# TODO: only create cogs as needed
for cog_index in range(self.max_cogs):
self.cogs.append(
Cog(self.max_cables_per_cog,
self.max_bundles_per_cog,
max_chains_per_bundle=self.max_cables_per_cog,
name='cog' + str(cog_index),
level=self.level))
self.cable_activities = np.zeros((self.max_cables, 1))
self.hub_cable_goals = np.zeros((self.max_cables, 1))
self.fill_fraction_threshold = .7
self.ACTIVITY_DECAY_RATE = 1. # real, 0 < x < 1
# Constants for adaptively rescaling the cable activities
self.max_vals = np.zeros((self.max_cables, 1))
self.min_vals = np.zeros((self.max_cables, 1))
self.RANGE_DECAY_RATE = 10**-5
def step_up(self, new_cable_activities):
""" Find bundle_activities that result from new_cable_activities """
# Condition the cable activities to fall between 0 and 1
if new_cable_activities.size < self.max_cables:
new_cable_activities = tools.pad(new_cable_activities,
(self.max_cables, 1))
self.min_vals = np.minimum(new_cable_activities, self.min_vals)
self.max_vals = np.maximum(new_cable_activities, self.max_vals)
spread = self.max_vals - self.min_vals
new_cable_activities = (
(new_cable_activities - self.min_vals) /
(self.max_vals - self.min_vals + tools.EPSILON))
self.min_vals += spread * self.RANGE_DECAY_RATE
self.max_vals -= spread * self.RANGE_DECAY_RATE
# Update cable_activities, incorporating sensing dynamics
self.cable_activities = tools.bounded_sum([
new_cable_activities,
self.cable_activities * (1. - self.ACTIVITY_DECAY_RATE)
])
# Update the map from self.cable_activities to cogs
self.ziptie.step_up(self.cable_activities)
# Process the upward pass of each of the cogs in the block
self.bundle_activities = np.zeros((0, 1))
for cog_index in range(len(self.cogs)):
# Pick out the cog's cable_activities, process them,
# and assign the results to block's bundle_activities
cog_cable_activities = self.cable_activities[
self.ziptie.get_index_projection(cog_index).ravel().astype(
bool)]
# Cogs are only allowed to start forming bundles once
# the number of cables exceeds the fill_fraction_threshold
enough_cables = (self.ziptie.cable_fraction_in_bundle(cog_index) >
self.fill_fraction_threshold)
cog_bundle_activities = self.cogs[cog_index].step_up(
cog_cable_activities, enough_cables)
self.bundle_activities = np.concatenate(
(self.bundle_activities, cog_bundle_activities))
# Goal fulfillment and decay
self.hub_cable_goals -= self.cable_activities
self.hub_cable_goals *= self.ACTIVITY_DECAY_RATE
self.hub_cable_goals = np.maximum(self.hub_cable_goals, 0.)
return self.bundle_activities
def step_down(self, bundle_goals):
""" Find cable_activity_goals, given a set of bundle_goals """
bundle_goals = tools.pad(bundle_goals, (self.max_bundles, 1))
cable_goals = np.zeros((self.max_cables, 1))
self.surprise = np.zeros((self.max_cables, 1))
# Process the downward pass of each of the cogs in the level
cog_index = 0
for cog in self.cogs:
# Gather the goal inputs for each cog
cog_bundle_goals = bundle_goals[
cog_index * self.max_bundles_per_cog:cog_index +
1 * self.max_bundles_per_cog, :]
# Update the downward outputs for the level
cable_goals_by_cog = cog.step_down(cog_bundle_goals)
cog_cable_indices = self.ziptie.get_index_projection(
cog_index).ravel().astype(bool)
cable_goals[cog_cable_indices] = np.maximum(
cable_goals_by_cog, cable_goals[cog_cable_indices])
#self.reaction[cog_cable_indices] = np.maximum(
# tools.pad(cog.reaction, (cog_cable_indices[0].size, 0)),
# self.reaction[cog_cable_indices])
self.surprise[cog_cable_indices] = np.maximum(
cog.surprise, self.surprise[cog_cable_indices])
cog_index += 1
#self.hub_cable_goals = tools.bounded_sum([self.hub_cable_goals,
# cable_goals])
return self.hub_cable_goals
def get_index_projection(self, bundle_index):
""" Represent one of the bundles in terms of its cables """
# Find which cog it belongs to and which output it corresponds to
cog_index = int(bundle_index / self.max_bundles_per_cog)
cog_bundle_index = bundle_index - cog_index * self.max_bundles_per_cog
# Find the projection to the cog's own cables
cog_cable_indices = self.ziptie.get_index_projection(
cog_index).ravel().astype(bool)
num_cables_in_cog = np.sum(cog_cable_indices)
cog_projection = self.cogs[cog_index].get_index_projection(
cog_bundle_index)
# Then re-sort them to the block's cables
projection = np.zeros((self.max_cables, 2))
projection[
cog_cable_indices, :] = cog_projection[:num_cables_in_cog, :]
return projection
def bundles_created(self):
total = 0.
for cog in self.cogs:
# Check whether all cogs have created all their bundles
total += cog.num_bundles()
if np.random.random_sample() < 0.01:
print total, 'bundles in', self.name, ', max of', self.max_bundles
return total
def visualize(self):
""" Show what's going on inside the level """
self.ziptie.visualize()
#for cog in self.cogs:
# cog.visualize()
return
class Cog(object):
"""
The basic units of which gearboxes are composed
Cogs are named for their similarity to clockwork cogwheels.
They are simple and do the same task over and over, but by
virtue of how they are connected to their fellows, they
collectively bring about interesting behavior.
In a conflicting mmetaphor, the inputs to a cog
are similar to electrical cables: they carry activity
signals that vary over time.
Each cog contains two important parts, a daisychain and a ziptie.
The daisychain is an object that builds cables into short sequences,
and the ziptie is an object that takes the resulting chains
and performs clustering on them, grouping them into bundles.
During upward processing, cable activities are used to train
the daisychain and ziptie, making new bundles, maturing existing
bundles, and calculating the activity in bundle.
During downward processing,
the daisychain and ziptie use the bundle activity goals from
the next level higher to create goals for the cables.
"""
def __init__(self,
max_cables,
max_bundles,
max_chains_per_bundle=None,
name='anonymous',
level=0):
""" Initialize the cogs with a pre-determined maximum size """
self.name = name
self.max_cables = max_cables
self.max_bundles = max_bundles
if max_chains_per_bundle is None:
max_chains_per_bundle = int(max_cables**2 / max_bundles)
self.daisychain = DaisyChain(max_cables, name=name)
if max_bundles > 0:
self.ziptie = ZipTie(max_cables**2,
max_bundles,
max_cables_per_bundle=max_chains_per_bundle,
name=name)
def step_up(self, cable_activities, enough_cables):
""" Cable_activities percolate upward through daisychain and ziptie """
# TODO: fix this so that cogs can gracefully handle more cables
# or else never be assigned them in the first place
if cable_activities.size > self.max_cables:
cable_activities = cable_activities[:self.max_cables, :]
print '----- Number of max cables exceeded in', self.name, \
' -----'
chain_activities = self.daisychain.step_up(cable_activities)
self.surprise = self.daisychain.get_surprise()
if enough_cables is True:
bundle_activities = self.ziptie.step_up(chain_activities)
else:
bundle_activities = np.zeros((0, 1))
bundle_activities = tools.pad(bundle_activities, (self.max_bundles, 0))
return bundle_activities
def step_down(self, bundle_goals):
""" Bundle_goals percolate downward """
chain_goals = self.ziptie.step_down(bundle_goals)
cable_goals = self.daisychain.step_down(chain_goals)
return cable_goals
def get_index_projection(self, bundle_index):
""" Project a bundle down through the ziptie and daisychain """
chain_projection = self.ziptie.get_index_projection(bundle_index)
cable_projection = self.daisychain.get_index_projection(
chain_projection)
return cable_projection
def fraction_filled(self):
""" How full is the set of cables for this cog? """
return float(self.daisychain.num_cables) / float(self.max_cables)
def num_bundles(self):
""" How many bundles have been created in this cog? """
return self.ziptie.num_bundles
def visualize(self):
""" Show the internal state of the daisychain and ziptie """
#self.daisychain.visualize()
if self.max_bundles > 0:
self.ziptie.visualize()
class Gearbox(object):
"""
The building block of which the drivetrain is composed
Gearboxes are arranged hierarchically within the agent's drivetrain.
The agent begins with only one gearbox, and creates subsequent
gearboxes as previous ones mature.
The gearbox's inputs (cables) are organized into clusters (bundles)
whose activities are passed up to the next gearbox in the hierarchy.
"""
def __init__(self, min_cables, name='anonymous', level=0):
"""
Initialize the level, defining the dimensions of its cogs
"""
self.max_cables = int(2 ** np.ceil(np.log2(min_cables)))
#self.max_cables_per_cog = 16
#self.max_bundles_per_cog = 8
#self.max_cogs = self.max_cables / self.max_bundles_per_cog
#self.max_bundles = self.max_cogs * self.max_bundles_per_cog
self.max_bundles = self.max_cables
self.name = name
self.level = level
ziptie_name = ''.join([self.name, '_ziptie'])
self.ziptie = ZipTie(self.max_cables, self.max_bundles,
name=ziptie_name, in_gearbox=True)
'''
self.ziptie = ZipTie(self.max_cables, self.max_cogs,
max_cables_per_bundle=self.max_cables_per_cog,
name=ziptie_name, in_gearbox=True)
self.cogs = []
# TODO: only create cogs as needed
for cog_index in range(self.max_cogs):
self.cogs.append(Cog(self.max_cables_per_cog,
self.max_bundles_per_cog,
max_chains_per_bundle=self.max_cables_per_cog,
name='_'.join(['cog', str(cog_index),
self.name]),
level=self.level))
'''
self.cable_activities = np.zeros((self.max_cables, 1))
self.bundle_activities = np.zeros((self.max_bundles, 1))
#self.raw_cable_activities = np.zeros((self.max_cables, 1))
#self.previous_cable_activities = np.zeros((self.max_cables, 1))
#self.cable_goals = np.zeros((self.max_cables, 1))
#self.fill_fraction_threshold = 0.
#self.step_multiplier = int(2 ** self.level)
#self.step_counter = 1000000
# The rate at which cable activities decay (float, 0 < x < 1)
self.ACTIVITY_DECAY_RATE = 2 ** (-self.level)
# Constants for adaptively rescaling the cable activities
#self.max_vals = np.zeros((self.max_cables, 1))
#self.min_vals = np.zeros((self.max_cables, 1))
#self.RANGE_DECAY_RATE = 1e-10
def step_up(self, new_cable_activities):
"""
Find bundle_activities that result from new_cable_activities
"""
if new_cable_activities.size < self.max_cables:
new_cable_activities = tools.pad(new_cable_activities,
(self.max_cables, 1))
# Update cable_activities
#self.raw_cable_activities *= 1. - (self.ACTIVITY_DECAY_RATE /
# float(self.step_multiplier))
#self.raw_cable_activities += new_cable_activities
#self.step_counter += 1
#if self.step_counter < self.step_multiplier:
# return self.bundle_activities
# Condition the cable activities to fall between 0 and 1
#self.min_vals = np.minimum(self.raw_cable_activities, self.min_vals)
#self.max_vals = np.maximum(self.raw_cable_activities, self.max_vals)
#spread = self.max_vals - self.min_vals
#self.cable_activities = ((self.raw_cable_activities - self.min_vals) /
# (self.max_vals - self.min_vals + tools.EPSILON))
#self.min_vals += spread * self.RANGE_DECAY_RATE
#self.max_vals -= spread * self.RANGE_DECAY_RATE
# debug: don't adapt cable activities
self.cable_activities = new_cable_activities
self.cable_activities = tools.bounded_sum2(self.cable_activities,
new_cable_activities *
self.ACTIVITY_DECAY_RATE)
'''
cluster_training_activities = np.maximum(
self.previous_cable_activities, self.cable_activities)
self.previous_cable_activities = self.cable_activities.copy()
# Update the map from self.cable_activities to cogs
self.ziptie.step_up(cluster_training_activities)
'''
self.bundle_activities = self.ziptie.step_up(self.cable_activities)
# Process the upward pass of each of the cogs in the gearbox
#self.bundle_activities = np.zeros((0, 1))
'''
for cog_index in range(len(self.cogs)):
# Pick out the cog's cable_activities, process them,
# and assign the results to gearbox's bundle_activities
cog_cable_activities = self.cable_activities[
self.ziptie.get_index_projection(
cog_index).astype(bool)]
# Cogs are only allowed to start forming bundles once
# the number of cables exceeds the fill_fraction_threshold
enough_cables = (self.ziptie.cable_fraction_in_bundle(cog_index)
> self.fill_fraction_threshold)
cog_bundle_activities = self.cogs[cog_index].step_up(
cog_cable_activities, enough_cables)
self.bundle_activities = np.concatenate((self.bundle_activities,
cog_bundle_activities))
# Goal fulfillment and decay
self.cable_goals -= self.cable_activities
self.cable_goals *= self.ACTIVITY_DECAY_RATE
self.cable_goals = np.maximum(self.cable_goals, 0.)
'''
# debug: no bundle activities
#self.bundle_activities = np.zeros(self.bundle_activities.shape)
return self.bundle_activities
'''
def step_down(self, bundle_goals):
"""
Find cable_activity_goals, given a set of bundle_goals
"""
# debug
#if self.step_counter < self.step_multiplier:
# if 'self.hub_bundle_goals' not in locals():
# self.hub_bundle_goals = np.zeros((self.max_cables, 1))
# return self.hub_bundle_goals
#else:
# self.step_counter = 0
if 'self.hub_bundle_goals' not in locals():
self.hub_bundle_goals = np.zeros((self.max_cables, 1))
bundle_goals = tools.pad(bundle_goals, (self.max_bundles, 1))
# debug: don't propogate any goals downward
#bundle_goals = np.zeros(bundle_goals.shape)
new_cable_goals = np.zeros((self.max_cables, 1))
# Process the downward pass of each of the cogs in the level
cog_index = 0
for cog in self.cogs:
# Gather the goal inputs for each cog
cog_bundle_goals = bundle_goals[
cog_index * self.max_bundles_per_cog:
cog_index + 1 * self.max_bundles_per_cog,:]
# Update the downward outputs for the level
cable_goals_by_cog = cog.step_down(cog_bundle_goals)
cog_cable_indices = self.ziptie.get_index_projection(
cog_index).astype(bool)
new_cable_goals[cog_cable_indices] = np.maximum(
cable_goals_by_cog, new_cable_goals[cog_cable_indices])
cog_index += 1
self.cable_goals = tools.bounded_sum([self.cable_goals,
new_cable_goals])
return self.cable_goals
'''
def get_index_projection(self, bundle_index):
"""
Represent one of the bundles in terms of its cables
"""
'''
# Find which cog it belongs to and which output it corresponds to
cog_index = int(bundle_index / self.max_bundles_per_cog)
cog_bundle_index = bundle_index - cog_index * self.max_bundles_per_cog
# Find the projection to the cog's own cables
cog_cable_indices = self.ziptie.get_index_projection(
cog_index).astype(bool)
num_cables_in_cog = np.sum(cog_cable_indices)
cog_projection = self.cogs[cog_index].get_index_projection(
cog_bundle_index)
# Then re-sort them to the gearbox's cables
projection = np.zeros((self.max_cables, 2))
projection[cog_cable_indices,:] = cog_projection[:num_cables_in_cog,:]
'''
projection = self.ziptie.get_index_projection(bundle_index)
return projection
def bundles_created(self):
"""
How many bundles have been created in the gearbox in total?
"""
#total = 0.
#for cog in self.cogs:
# total += cog.num_bundles()
return self.ziptie.num_bundles
def visualize(self):
print self.name
self.ziptie.visualize()