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")