import numpy as np
import math
import pip
import pyrosim
import random
import copy
import pickle
from snakeservo import ROBOT
from individual import INDIVIDUAL
from population import POPULATION
genvector = np.genfromtxt('bestind.txt', dtype='float')
print genvector
indbest = INDIVIDUAL(0)
indbest.genome = genvector
print indbest.genome
indbest.Start_Evaluation(False)
class GENOME:
def __init__(self,ID,fitness=c.worstFitness):
self.Set_ID(ID)
self.indv = INDIVIDUAL(ID)
self.age = 0
self.fitness = fitness
def Age(self):
self.age = self.age + 1
def Dominates(self,other):
if self.Get_Fitness() <= other.Get_Fitness():
if self.Get_Age() <= other.Get_Age():
equalFitnesses = self.Get_Fitness() == other.Get_Fitness()
equalAges = self.Get_Age() == other.Get_Age()
if not equalFitnesses and equalAges:
return True
else:
return self.Is_Newer_Than(other)
else:
return False
else:
return False
def Evaluate(self):
self.indv.Start_Evaluation(True)
f = self.indv.Compute_Fitness()
# if f < 0:
# self.fitness = c.worstFitness
# else:
# self.fitness = 1/(1+f)
self.fitness = -f
def Get_Age(self):
return self.age
def Get_Fitness(self):
return self.fitness
def Mutate(self):
self.indv.Mutate()
def Print(self):
print(' fitness: ' , end = '' )
print(self.fitness , end = '' )
print(' age: ' , end = '' )
print(self.age , end = '' )
print()
def Save(self,randomSeed):
f = open('savedRobots.dat', 'ab')
pickle.dump(self.indv , f)
f.close()
pass
def Set_ID(self,ID):
self.ID = ID
def Show(self):
self.indv.Start_Evaluation(False, 40)
self.indv.Compute_Fitness()
# def __add__(self, other):
# total_fitness = self.fitness + other.fitness
# print("I've been called")
# return GENOME(1, total_fitness)
# def __radd__(self, other):
# if other == 0:
# return self
# else:
# return self.__add__(other)
# -------------------- Private methods ----------------------
def Get_ID(self):
return self.ID
def Is_Newer_Than(self,other):
return self.Get_ID() > other.Get_ID()
