def test_swap_subtrees(self):
btsr_1 = BehaviorTreeStringRepresentation(
['s(', 'a0', 'f(', 'a0', 'a0', ')', 'a0', ')'])
btsr_2 = BehaviorTreeStringRepresentation(
['s(', 'a0', 'f(', 'a0', 'a0', ')', 's(', 'a0', 'a0', ')', ')'])
btsr_1.swap_subtrees(btsr_2, 6, 6)
self.assertEqual(
btsr_1.bt,
['s(', 'a0', 'f(', 'a0', 'a0', ')', 's(', 'a0', 'a0', ')', ')'])
self.assertEqual(btsr_2.bt,
['s(', 'a0', 'f(', 'a0', 'a0', ')', 'a0', ')'])
# Invalid subtree because it's an up node, no swap
btsr_1.set(['s(', 'a0', 'f(', 'a0', 'a0', ')', 'a0', ')'])
btsr_2.set(
['s(', 'a0', 'f(', 'a0', 'a0', ')', 's(', 'a0', 'a0', ')', ')'])
btsr_1.swap_subtrees(btsr_2, 5, 6)
self.assertEqual(btsr_1.bt,
['s(', 'a0', 'f(', 'a0', 'a0', ')', 'a0', ')'])
self.assertEqual(
btsr_2.bt,
['s(', 'a0', 'f(', 'a0', 'a0', ')', 's(', 'a0', 'a0', ')', ')'])
def crossover_genome(self, genome1, genome2, replace):
"""
Do crossover between genomes at random points
"""
bt1 = BehaviorTreeStringRepresentation(genome1)
bt2 = BehaviorTreeStringRepresentation(genome2)
offspring1 = BehaviorTreeStringRepresentation([])
offspring2 = BehaviorTreeStringRepresentation([])
if bt1.is_valid() and bt2.is_valid():
max_attempts = 100
attempts = 0
found = False
while not found and attempts < max_attempts:
offspring1.set(bt1.bt)
offspring2.set(bt2.bt)
cop1 = -1
cop2 = -1
if len(genome1) == 1:
cop1 = 0 # Change whole tree
else:
while not offspring1.is_subtree(cop1):
cop1 = random.randint(1, len(genome1) - 1)
if len(genome2) == 1:
cop2 = 0 # Change whole tree
else:
while not offspring2.is_subtree(cop2):
cop2 = random.randint(1, len(genome2) - 1)
if replace:
offspring1.swap_subtrees(offspring2, cop1, cop2)
else:
subtree1 = offspring1.get_subtree(cop1)
subtree2 = offspring2.get_subtree(cop2)
if len(genome1) == 1:
index1 = random.randint(0, 1)
else:
index1 = random.randint(1, len(genome1) - 1)
if len(genome2) == 1:
index2 = random.randint(0, 1)
else:
index2 = random.randint(1, len(genome2) - 1)
offspring1.insert_subtree(subtree2, index1)
offspring2.insert_subtree(subtree1, index2)
attempts += 1
if offspring1.is_valid() and offspring2.is_valid():
found = True
if not found:
offspring1.set([])
offspring2.set([])
return offspring1.bt, offspring2.bt