def setInitialPopulation (ga_engine):
prop = DTIndividualPropertyCMUDaz()
propVanilla = DTIndividualPropertyVanilla()
balieroProp = DTIndividualPropertyBaliero()
conf = LoadSystemConfiguration()
CMUxmlDir = os.getcwd()+conf.getDirectory("Transformed CMU mocap Files")
GAwalkDir = os.getcwd()+conf.getDirectory("GAWalk Files")
UIBLHDir = os.getcwd()+conf.getDirectory("UIBLH mocap Files")
BalieroDir = os.getcwd()+conf.getDirectory("Baliero transformed walk Files")
ADHOCDir = os.getcwd()+conf.getDirectory("ADHOC Files")
geneticPoolDir = os.getcwd()+conf.getDirectory("Genetic Pool")
population = ga_engine.getPopulation()
popSize = len(population)
individualCounter = 0
# if individualCounter < popSize:
# for filename in glob.glob(os.path.join(GAwalkDir, '*.xml')):
# print individualCounter, " individuals processed!"
# print 'inserting individual: ' + filename + " into the initial population"
# walk = Individual(propVanilla, DTIndividualGeneticTimeSerieFile(filename))
# geneticMatrix = walk.getGenomeMatrix()
# if individualCounter < popSize:
# adan = population[individualCounter]
# for i in xrange(adan.getHeight()):
# if i == len(geneticMatrix):
# break
# for j in xrange(adan.getWidth()):
# adan.setItem(i,j,geneticMatrix[i][j])
# population[individualCounter]=adan
# individualCounter = individualCounter + 1
# else:
# break
if individualCounter < popSize:
for filename in glob.glob(os.path.join(CMUxmlDir, '*.xml')):
print individualCounter, " individuals processed!"
print 'inserting individual: ' + filename + " into the initial population"
walk = Individual(prop, DTIndividualGeneticTimeSerieFile(filename))
geneticMatrix = walk.getGenomeMatrix()
if individualCounter < popSize:
adan = population[individualCounter]
for i in xrange(adan.getHeight()):
if i == len(geneticMatrix):
break
for j in xrange(adan.getWidth()):
adan.setItem(i,j,geneticMatrix[i][j])
population[individualCounter]=adan
individualCounter = individualCounter + 1
else:
break
global initialPopulationSetted
initialPopulationSetted = True
def setInitialPopulation(ga_engine):
propCMUDaz = DTIndividualPropertyCMUDaz()
propVanilla = DTIndividualPropertyVanilla()
balieroProp = DTIndividualPropertyBaliero()
conf = LoadSystemConfiguration()
lucyCycles = os.getcwd()+conf.getDirectory("Lucy evolved walk cycles Files")
CMUxmlDir = os.getcwd()+conf.getDirectory("Transformed CMU mocap Files")
GAwalkDir = os.getcwd()+conf.getDirectory("GAWalk Files")
UIBLHDir = os.getcwd()+conf.getDirectory("UIBLH mocap Files")
BalieroDir = os.getcwd()+conf.getDirectory("Baliero transformed walk Files")
ADHOCDir = os.getcwd()+conf.getDirectory("ADHOC Files")
geneticPoolDir = os.getcwd()+conf.getDirectory("Genetic Pool")
population = ga_engine.getPopulation()
popSize = len(population)
individualCounter = 0
walk = Individual(propVanilla, DTIndividualGeneticMatrix()) #dummy individual to initialise the simulator and enable the time step configuration
walk.execute()
print "please set the proper time step in vrep"
dtgenoma = DTGenomeFunctions()
#the random initia population created is replaced by the imitation motion capture database
if individualCounter < popSize:
for filename in glob.glob(os.path.join(CMUxmlDir, '*.xml')):
if individualCounter < popSize:
print individualCounter, " individuals processed!"
print 'inserting individual: ' + filename + " into the initial population"
walk = Individual(propCMUDaz, DTIndividualGeneticTimeSerieFile(filename))
teacherGeneticMatrix = walk.getGenomeMatrix()
adan = population[individualCounter]
adanIndividualLength=dtgenoma.getIndividualLength(adan)
adanJointLength=dtgenoma.getIndividualFrameLength(adan)
for i in xrange(adanIndividualLength):
for j in xrange(adanJointLength):
if i < len(teacherGeneticMatrix): #if the fixed gnoma representation size is less than the teacher size
adan.setItem(i,j,teacherGeneticMatrix[i][j])
else:
#put a sentinel joint value to mark the end of the individual
adan.setItem(i,j,sysConstants.JOINT_SENTINEL)
population[individualCounter]=adan
individualCounter = individualCounter + 1
else:
break
#uncomment this block and comment the one above to use individuals with vainilla format
'''if individualCounter < popSize:
for filename in glob.glob(os.path.join(CMUxmlDir, '*.xml')):
if individualCounter < popSize:
print individualCounter, " individuals processed!"
print 'inserting individual: ' + filename + " into the initial population"
walk = Individual(propVanilla, DTIndividualGeneticTimeSerieFile(filename))
teacherGeneticMatrix = walk.getGenomeMatrix()
adan = population[individualCounter]
adanIndividualLength=dtgenoma.getIndividualLength(adan)
adanJointLength=dtgenoma.getIndividualFrameLength(adan)
for i in xrange(adanIndividualLength):
for j in xrange(adanJointLength):
if i < len(teacherGeneticMatrix): #if the fixed gnoma representation size is less than the teacher size
adan.setItem(i,j,teacherGeneticMatrix[i][j])
else:
#put a sentinel joint value to mark the end of the individual
adan.setItem(i,j,sysConstants.JOINT_SENTINEL)
population[individualCounter]=adan
individualCounter = individualCounter + 1
else:
break
'''
global initialPopulationSetted
initialPopulationSetted = True
