def get_fitness(string):
""" Run the simulation and return the fitness """
state_machine = sm.StateMachine()
behavior_tree = PyTree(string[:],
behaviors=behaviors,
world_interface=state_machine)
# run the Behavior Tree
behavior_tree.run_bt()
return fitness_function.compute_fitness(state_machine, behavior_tree)
def get_fitness(self, individual, save_video=False):
"""
Run the simulation and return the fitness
In case of error, restarts world_interface and tries again.
"""
pytree = PyTree(individual[:],
behaviors=behaviors,
world_interface=self.world_interface,
verbose=self.verbose)
status_ok = True
fitness = None
while fitness is None:
if self.counter >= self.maximum_runs or not status_ok:
self.world_interface.restart()
self.counter = 0
else:
self.world_interface.reset()
self.counter += 1
if save_video:
self.world_interface.start_video()
ticks, status_ok = pytree.run_bt(max_ticks=200)
count = 0
while count < 50 and status_ok: #Wait up to five seconds for everything to come to a resting state
old_sensor_data = self.world_interface.get_sensor_data()
status_ok = self.world_interface.get_feedback()
if status_ok:
if self.world_interface.at_standstill(old_sensor_data):
break
self.world_interface.send_references()
count += 1
if save_video:
time.sleep(1) #Needed for ros synch
self.world_interface.stop_video()
if status_ok:
fitness = fitness_function.compute_fitness(self.world_interface, pytree, ticks, \
self.targets, self.fitness_coeff, self.verbose)
else:
self.world_interface.restart()
self.counter = 0
print("Failed:", individual)
fitness = -9999999
return fitness
def get_fitness(self, individual):
""" Run the simulation and return the fitness """
state_machine = sm.StateMachine(self.start_positions,
self.random_events, self.sm_pars,
self.mode)
pytree = PyTree(individual[:],
behaviors=behaviors,
world_interface=state_machine,
verbose=self.verbose)
# run the Behavior Tree
ticks, _ = pytree.run_bt()
return fitness_function.compute_fitness(state_machine, pytree, ticks,
self.targets,
self.fitness_coeff)