def printEpisode(self):
#cost, time = self.runMultiProcessTrajectories(self.rs.numberOfRepeatEachTraj)
#cost, time = self.allTraj(self.rs.numberOfRepeatEachTraj)
#print("Progression :"+str(self.progress))
cost, time = self.progress(self.rs.numberOfRepeatEachTraj)
#cost, time = self.ligneTraj(self.rs.numberOfRepeatEachTraj)
#cost, time = self.OneTraj(self.rs.XTarget+ 0.1*np.cos(-np.pi/2), self.rs.YTarget+ 0.1*np.sin(-np.pi/2))
costfoldername = self.foldername + "CostCMAES/"
checkIfFolderExists(costfoldername)
costFile = open(costfoldername + "ddpgCost.log", "a")
timeFile = open(costfoldername + "ddpgTime.log", "a")
costFile.write(str(cost) + "\n")
timeFile.write(str(time) + "\n")
costFile.close()
timeFile.close()
"""
if(cost>0.8 and self.progress <4):
self.progress+=1
self.max=0
"""
if (cost > self.max):
self.max = cost
writeArray(self.actor.linear_parameters(), self.foldername, "Best",
".theta")
def changeExperimentCircular():
x0, y0 = 0, 0.6175
r = [0.18, 0.20, 0.22, 0.24]
x, y, exper = [], [], []
#nppi = np.arange(5*math.pi/4, 7*math.pi/4, math.pi/10)
nppi = np.linspace(5 * math.pi / 4, 7 * math.pi / 4, 12)
for i in range(nppi.shape[0]):
for j in range(len(r)):
xt = x0 + r[j] * math.cos(nppi[i])
yt = y0 + r[j] * math.sin(nppi[i])
x.append(xt)
y.append(yt)
exper.append((xt, yt))
plt.figure()
plt.scatter(x, y, c='b')
plt.show()
writeArray(exper, ".", "PosIniExperimentCircular48", "")
def changeExperimentCircular():
x0, y0 = 0, 0.6175
r = [0.18, 0.20, 0.22, 0.24]
x, y, exper = [], [], []
#nppi = np.arange(5*math.pi/4, 7*math.pi/4, math.pi/10)
nppi = np.linspace(5*math.pi/4, 7*math.pi/4, 12)
for i in range(nppi.shape[0]):
for j in range(len(r)):
xt = x0 + r[j] * math.cos(nppi[i])
yt = y0 + r[j] * math.sin(nppi[i])
x.append(xt)
y.append(yt)
exper.append((xt, yt))
plt.figure()
plt.scatter(x, y, c = 'b')
plt.show()
writeArray(exper,".","PosIniExperimentCircular48","")
def saveCost(self):
'''
filename = findDataFilename(self.foldername+"Cost/","traj",".cost")
filenameTime = findDataFilename(self.foldername+"TrajTime/","traj",".time")
filenameX = findDataFilename(self.foldername+"finalX/","x",".last")
np.savetxt(filename, self.costStore)
np.savetxt(filenameTime, self.trajTimeStore)
np.savetxt(filenameX, self.lastCoord)
'''
writeArray(self.costStore,self.foldername+"Cost/","traj",".cost")
writeArray(self.cost12Store,self.foldername+"CostU12/","traj",".cost")
writeArray(self.trajTimeStore, self.foldername+"TrajTime/","traj",".time")
writeArray(self.lastCoord, self.foldername+"finalX/","x",".last")
def printEpisode(self):
#cost, time = self.runMultiProcessTrajectories(self.rs.numberOfRepeatEachTraj)
#cost, time = self.allTraj(self.rs.numberOfRepeatEachTraj)
#print("Progression :"+str(self.progress))
cost, time = self.progress(self.rs.numberOfRepeatEachTraj)
#cost, time = self.ligneTraj(self.rs.numberOfRepeatEachTraj)
#cost, time = self.OneTraj(self.rs.XTarget+ 0.1*np.cos(-np.pi/2), self.rs.YTarget+ 0.1*np.sin(-np.pi/2))
costfoldername = self.foldername+"CostCMAES/"
checkIfFolderExists(costfoldername)
costFile = open(costfoldername+"ddpgCost.log","a")
timeFile = open(costfoldername+"ddpgTime.log","a")
costFile.write(str(cost)+"\n")
timeFile.write(str(time)+"\n")
costFile.close()
timeFile.close()
"""
if(cost>0.8 and self.progress <4):
self.progress+=1
self.max=0
"""
if(cost>self.max):
self.max = cost
writeArray(self.actor.linear_parameters(),self.foldername, "Best", ".theta")
def saveCost(self):
writeArray(self.costStore, self.foldername + "CostCMAES/", "traj",
".cost")
writeArray(self.trajTimeStore, self.foldername + "TrajTime/", "traj",
".time")
writeArray(self.lastCoord, self.foldername + "finalX/", "x", ".last")
def saveCost(self):
writeArray(self.costStore,self.foldername+"CostCMAES/","traj",".cost")
writeArray(self.trajTimeStore, self.foldername+"TrajTime/","traj",".time")
writeArray(self.lastCoord, self.foldername+"finalX/","x",".last")
