def reportBestGait(player):
if player.firstFrame():
(bestGaitArray, gaitScore) = player.swarm.getBestSolution()
bestGaitTuple = arrayToGaitTuple(bestGaitArray)
print "best found gait's heuristic score was: ", gaitScore
try:
gaitScore = int(gaitScore)
output = BEST_GAIT_FILE + str(gaitScore)
i = 1
while isfile(output):
output = BEST_GAIT_FILE + str(gaitScore) + "." + str(i)
i += 1
print "best gait saved to file: ", output
f = open(output, 'w')
pickle.dump(bestGaitTuple, f)
f.close()
except:
print "error pickling gait"
return player.goLater('restartOptimization')
def stopandchangegait(player):
'''Set new gait and start walking again'''
if player.firstFrame():
setWalkVector(player, 0,0,0)
gaitTuple = arrayToGaitTuple(player.swarm.getNextParticle().getPosition())
setGait(player, gaitTuple)
if player.counter == 50:
return player.goLater('walkstraightstop')
return player.stay()
