def GtoP(self, genome):
"""
Convert genome to network metrics.
Need to update this to fit MN network.
"""
n = 0
self.i2h_weights = []
for i in range(self.h):
w = []
for j in range(self.i):
w.append(normalize(genome[n]))
n += 1
self.i2h_weights.append(w)
print(n)
self.h2o_weights = []
for i in range(self.o):
w = []
for j in range(self.h):
w.append(normalize(genome[n]))
n += 1
self.h2o_weights.append(w)
print(n)
self.hidden_bias = [normalize(x) for x in genome[n:n + self.h]]
self.output_bias = [normalize(x) for x in genome[n + self.h:]]
def G_to_P(genome, nodes, connections):
"""Convert genome type to phenotype."""
# nodes
for n in nodes.keys():
if 'time_const_locus' in nodes[n].keys():
nodes[n]['time_const'] = normalize(
genome[nodes[n]['time_const_locus']], out_min=0, out_max=1)
if 'bias_locus' in nodes[n].keys():
nodes[n]['bias'] = normalize(genome[nodes[n]['bias_locus']])
# connections
for c in connections.keys():
connections[c]['weight'] = normalize(
genome[connections[c]['weight_locus']])
return nodes, connections
def G_to_P(self):
"""Convert genome type to phenotype."""
for n in self.nodes.keys():
if 'time_const_locus' in self.nodes[n].keys():
self.nodes[n]['time_const'] = normalize(
self.genome[self.nodes[n]['time_const_locus']],
out_min=0,
out_max=1)
if 'bias_locus' in self.nodes[n].keys():
self.nodes[n]['bias'] = normalize(
self.genome[self.nodes[n]['bias_locus']])
for c in self.connections.keys():
self.connections[c]['weight'] = normalize(
self.genome[self.connections[c]['weight_locus']])
print(self.connections[c]['weight'])
drone_dyn_body.add_forceobj(point_name='Aero', force_obj=AeroForces(Fd))
# Flight computer
fc = FlightComputer(dt, fc_config)
fc.PWM_hover = PWM_hover
state_ = SixDofState.zero_states('ground_ned')
state_.g_fun = ned_gravity
state = np.hstack([state_.vector, w])
for t in time:
if (t > 3):
eulAngSP = np.array([-0.1, 0.1, 0])
x = np.array(state[0:3])
q_s = normalize(state[3:7])
x_dot = np.array(state[7:10])
omega = np.array(state[10:13])
w = state[13:17]
state_.update(state[0:13])
# Model Updates
drone_dyn_body.force_obj_dict['Aero'].update(x_dot)
# Derivatives
drone_dyn_body.force_obj_dict.keys()
w_dot = []
for idx, motor in enumerate(motor_objs):
w_dot.append(motor.derivative(w[idx]))
w_dot = np.array(w_dot)
sixdofstate_dot = drone_dyn_body.derivative(state_)