def calculate_fitness(self, individuals):
fitness = []
for individual in individuals:
track = generate_track(chromosome_elements=individual)
s = np.array([track[0].x, track[0].y])
e = np.array([track[-1].x, track[-1].y])
fitness.append(1 / np.linalg.norm(s - e))
return fitness
def fitness(
chromosome_elements: List[ChromosomeElem],
penalty_coefs: Tuple[float, float],
) -> float:
# generate track points
track_points = generate_track(chromosome_elements=chromosome_elements)
# calculate distance between start and end points
start_point = TrackPoint(track_points[0].x, track_points[0].y - 2)
end_point = track_points[-1]
disp = math.sqrt((start_point.x - end_point.x)**2 +
(start_point.y - end_point.y)**2)
# find all vertices of the track
vertices = track_vertices(track_points=[end_point] + track_points,
chromosome_elements=chromosome_elements)
# calculate number of line-segment intersections
num_intersects = 0
for i in range(len(vertices) - 2):
for j in range(i + 1, len(vertices) - 1):
p1, p2 = vertices[i], vertices[i + 1]
p3, p4 = vertices[j], vertices[j + 1]
x1, x2, x3, x4 = p1.x, p2.x, p3.x, p4.x
y1, y2, y3, y4 = p1.y, p2.y, p3.y, p4.y
# check if segments intersect
denom = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4)
if denom != 0:
t = ((x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4)) / denom
if 0 < t <= 1:
u = ((x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3)) / denom
if 0 < u <= 1:
num_intersects += 1
# calculate difference in vehicle direction at start and end points
angle = math.atan2(end_point.y - track_points[-2].y,
end_point.x - track_points[-2].x)
if angle <= -math.pi / 2:
angle += 2 * math.pi
diff_direction = abs(math.pi / 2 - angle)
# combine results
return disp + penalty_coefs[0] * num_intersects + penalty_coefs[
1] * diff_direction
from ga.chromosome_elem import ChromosomeElem
from track_generator.command import Command
from track_generator.generator import generate_track
import matplotlib.pyplot as plt
if __name__ == '__main__':
chromosome_elements = [
ChromosomeElem(command=Command.S, value=11),
ChromosomeElem(command=Command.DY, value=15.5),
ChromosomeElem(command=Command.R, value=9),
ChromosomeElem(command=Command.S, value=10)
]
track_points = generate_track(chromosome_elements=chromosome_elements)
plot_x = [track_point.x for track_point in track_points]
plot_y = [track_point.y for track_point in track_points]
plt.scatter(plot_x, plot_y)
plt.show()