def eval_func(chromosome):
conf = LoadSystemConfiguration()
if not initialPopulationSetted:
setInitialPopulation(gaEngine)
prop = DTIndividualPropertyVanillaEvolutive()
precycleFile = os.getcwd()+"/mocap/cmu_mocap/xml/util/walk_precycle.xml"
preCycleEmbryo = DTIndividualGeneticTimeSerieFile(precycleFile)
preCycleLength = preCycleEmbryo.getLength()
if int(conf.getProperty("Concatenate walk cycles?")):
embryo = DTIndividualGeneticMatrixWalk(chromosomeToLucyGeneticMatrix(chromosome))
embryoCycleLength = (embryo.getLength() - preCycleLength) / int(conf.getProperty("Concatenate walk cycles?"))
else:
embryo = DTIndividualGeneticMatrix(chromosomeToLucyGeneticMatrix(chromosome))
embryoCycleLength = embryo.getLength() - preCycleLength
if int(conf.getProperty("concatenate external cycle file?")):
externalFirstCycleFile = os.getcwd() + conf.getFile("external cycle file")
externalFirstCycle = DTIndividualGeneticTimeSerieFile(externalFirstCycleFile)
preCycleEmbryo.concatenate(externalFirstCycle)
preCycleLength = preCycleEmbryo.getLength()
embryoCycleLength = embryoCycleLength - externalFirstCycle.getLength()
preCycleEmbryo.concatenate(embryo)
newEmbryo = preCycleEmbryo
#embryoLength = newEmbryo.getLength()
individual = Individual(prop, newEmbryo)
individual.setPrecycleLength(preCycleLength)
individual.setCycleLength(embryoCycleLength)
print "el cycle length seteado es: ", embryoCycleLength
##print "precyclelength: ", preCycleLength
##print "cyclelength: ", embryoCycleLength
#individual.setLength(embryoLength)
fitness = individual.execute() #return the fitness resulting from the simulator execution
if int(conf.getProperty("re-evaluate fittest?"))==True:
if fitness > max_score: #is really a better fitness ?
candidateFitness = fitness
fitness = individual.execute()
print "candidateFitness: ", candidateFitness, "fitness: ", fitness
while abs(candidateFitness-fitness) > 0.01:
candidateFitness=fitness
fitness = individual.execute()
print "candidateFitness: ", candidateFitness, "fitness: ", fitness
#the candidateFitness was validated!
fitness = candidateFitness
return fitness
def createIndividual(filename):
if int(conf.getProperty("Lucy simulated?"))==1:
precycleFile = os.getcwd()+"/mocap/cmu_mocap/xml/util/walk_precycle.xml"
preCycleEmbryo = DTIndividualGeneticTimeSerieFile(precycleFile)
preCycleLength = preCycleEmbryo.getLength()
if int(conf.getProperty("Concatenate walk cycles?")):
walkEmbryo = DTIndividualGeneticTimeSerieFileWalk(os.getcwd()+"/"+filename)
embryoCycleLength = (walkEmbryo.getLength() - preCycleLength) / int(conf.getProperty("Concatenate walk cycles?"))
else:
walkEmbryo = DTIndividualGeneticTimeSerieFile(os.getcwd()+"/"+filename)
embryoCycleLength = walkEmbryo.getLength() - preCycleLength
#walk = Individual(geneticVanillaPropNothingToAvoid, DTIndividualGeneticTimeSerieFile(os.getcwd()+"/"+filename)) #For Reda Al-Bahrani work compability
if int(conf.getProperty("concatenate external cycle file?")):
externalFirstCycleFile = os.getcwd() + conf.getFile("external cycle file")
externalFirstCycle = DTIndividualGeneticTimeSerieFile(externalFirstCycleFile)
preCycleEmbryo.concatenate(externalFirstCycle)
preCycleLength = preCycleEmbryo.getLength()
embryoCycleLength = embryoCycleLength - externalFirstCycle.getLength()
preCycleEmbryo.concatenate(walkEmbryo)
walkEmbryo = preCycleEmbryo
walk = Individual(geneticVanillaProp, walkEmbryo)
walk.setPrecycleLength(preCycleLength)
walk.setCycleLength(embryoCycleLength)
else:
#TODO physical stage
#TODO restructure the precycle for the case of physical and simulated
walkEmbryo = DTIndividualGeneticTimeSerieFile(os.getcwd()+"/"+filename)
precycleFile = os.getcwd()+"/mocap/cmu_mocap/xml/util/walk_precycle.xml"
preCycleEmbryo = DTIndividualGeneticTimeSerieFile(precycleFile)
preCycleEmbryo.concatenate(walkEmbryo)
if int(conf.getProperty("concatenate external cycle file?")):
precycleFile = os.getcwd() + conf.getFile("external cycle file")
firstCycle = DTIndividualGeneticTimeSerieFile(precycleFile)
preCycleEmbryo.concatenate(firstCycle)
walkEmbryo = preCycleEmbryo
walk = Individual(physicalProp, walkEmbryo)
#TODO add support for walking cycle
return walk
