def _generate_random_plastic_grammar(conf):
"""
Initializing a new genotype,
:param conf: e_max_groups, maximum number of groups of symbols
:return: a random new Genome
:rtype: dictionary
"""
s_segments = random.randint(1, conf.e_max_groups)
grammar = {}
for symbol in Alphabet.modules():
grammar[symbol[0]] = []
# generates clause and rule for each flavor of the letter
for flavor in range(0, conf.max_clauses):
grammar[symbol[0]].append([])
if symbol[0] == conf.axiom_w:
grammar[symbol[0]][-1].extend([build_clause(conf.environmental_conditions,
conf.logic_operators,
conf.max_terms_clause),
[[conf.axiom_w, []]]])
else:
grammar[symbol[0]][-1].extend([build_clause(conf.environmental_conditions,
conf.logic_operators,
conf.max_terms_clause),
[]])
for s in range(0, s_segments):
symbol_module = random.randint(
1, len(Alphabet.modules()) - 1)
symbol_mounting = random.randint(
0, len(Alphabet.morphology_mounting_commands()) - 1)
symbol_morph_moving = random.randint(
0, len(Alphabet.morphology_moving_commands()) - 1)
symbol_contr_moving = random.randint(
0, len(Alphabet.controller_moving_commands()) - 1)
symbol_changing = random.randint(
0, len(Alphabet.controller_changing_commands()) - 1)
grammar[symbol[0]][-1][1].extend([
Plasticoding.build_symbol(
Alphabet.controller_moving_commands()[symbol_contr_moving], conf),
Plasticoding.build_symbol(
Alphabet.controller_changing_commands()[symbol_changing], conf),
Plasticoding.build_symbol(
Alphabet.morphology_mounting_commands()[symbol_mounting], conf),
Plasticoding.build_symbol(
Alphabet.modules()[symbol_module], conf),
Plasticoding.build_symbol(
Alphabet.morphology_moving_commands()[symbol_morph_moving], conf),
])
return grammar
def random_initialization(conf, next_robot_id):
"""
Initializing a random genotype.
:type conf: PlasticodingConfig
:return: a Genome
:rtype: Plasticoding
"""
genotype = Plasticoding(conf, next_robot_id)
if conf.plastic:
genotype.grammar = _generate_random_plastic_grammar(conf)
else:
genotype.grammar = _generate_random_grammar(conf)
return genotype
def generate_symbol(genotype_conf):
"""
Generates a symbol for addition
:param genotype_conf: configuration for the genotype
:return: symbol
"""
symbol_category = random.randint(1, 5)
# Modules
if symbol_category == 1:
alphabet = random.randint(1, len(Alphabet.modules()) - 1)
symbol = Plasticoding.build_symbol(Alphabet.modules()[alphabet],
genotype_conf)
# Morphology mounting commands
elif symbol_category == 2:
alphabet = random.randint(
0,
len(Alphabet.morphology_mounting_commands()) - 1)
symbol = Plasticoding.build_symbol(
Alphabet.morphology_mounting_commands()[alphabet], genotype_conf)
# Morphology moving commands
elif symbol_category == 3:
alphabet = random.randint(
0,
len(Alphabet.morphology_moving_commands()) - 1)
symbol = Plasticoding.build_symbol(
Alphabet.morphology_moving_commands()[alphabet], genotype_conf)
# Controller moving commands
elif symbol_category == 4:
alphabet = random.randint(
0,
len(Alphabet.controller_moving_commands()) - 1)
symbol = Plasticoding.build_symbol(
Alphabet.controller_moving_commands()[alphabet], genotype_conf)
# Controller changing commands
elif symbol_category == 5:
alphabet = random.randint(
0,
len(Alphabet.controller_changing_commands()) - 1)
symbol = Plasticoding.build_symbol(
Alphabet.controller_changing_commands()[alphabet], genotype_conf)
else:
raise Exception(
'random number did not generate a number between 1 and 5. The value was: {}'
.format(symbol_category))
return symbol
def random_initialization(conf):
"""
Initializing the ...
:param conf: e_max_groups, maximum number of groups of symbols
:return: a random new Genome
:rtype: Plasticoding
"""
s_segments = random.randint(1, conf.e_max_groups)
grammar = {}
for symbol in Alphabet.modules():
if symbol[0] == conf.axiom_w:
grammar[symbol[0]] = [[conf.axiom_w, []]]
else:
grammar[symbol[0]] = []
for s in range(0, s_segments):
symbol_module = random.randint(
1, len(Alphabet.modules()) - 1)
symbol_mounting = random.randint(
0, len(Alphabet.morphologyMountingCommands()) - 1)
symbol_morph_moving = random.randint(
0, len(Alphabet.morphologyMovingCommands()) - 1)
symbol_contr_moving = random.randint(
0, len(Alphabet.controllerMovingCommands()) - 1)
symbol_changing = random.randint(
0, len(Alphabet.controllerChangingCommands()) - 1)
grammar[symbol[0]].extend([
Plasticoding.build_symbol(
Alphabet.controllerMovingCommands()[symbol_contr_moving], conf),
Plasticoding.build_symbol(
Alphabet.controllerChangingCommands()[symbol_changing], conf),
Plasticoding.build_symbol(
Alphabet.morphologyMountingCommands()[symbol_mounting], conf),
Plasticoding.build_symbol(
Alphabet.modules()[symbol_module], conf),
Plasticoding.build_symbol(
Alphabet.morphologyMovingCommands()[symbol_morph_moving], conf),
])
return grammar
def generate_child_genotype(parent_genotypes, genotype_conf, crossover_conf):
"""
Generates a child (individual) by randomly mixing production rules from two parents
:param parents: parents to be used for crossover
:return: child genotype
"""
grammar = {}
crossover_attempt = random.uniform(0.0, 1.0)
if crossover_attempt > crossover_conf.crossover_prob:
grammar = parent_genotypes[0].grammar
else:
for letter in Alphabet.modules():
parent = random.randint(0, 1)
# gets the production rule for the respective letter
grammar[letter[0]] = parent_genotypes[parent].grammar[letter[0]]
genotype = Plasticoding(genotype_conf, 'tmp')
genotype.grammar = grammar
return genotype.clone()