NOte the brain.py uses 1 as the bais input (not -1 in the notes)
"""
import brain
# 2 inputs 2 layers
# layer 1
# X1 X2 1 output
# -1 -1 0.5 Y1
# 1 1 -1.5 Y2
# layer 2
# Y1 Y2 1
# 1 1 -0.5 output
#
# weight array has the following format
# weight[layer][neuron_out][neuron_in]
brain = brain.FeedForwardBrain(weight=[[[-1.0, -1.0, 0.5], [1.0, 1.0, -1.5]],
[[1.0, 1.0, -0.5]]],
func=[brain.step, brain.step])
for x1 in range(2):
for x2 in range(2):
input = [x1, x2]
output = brain.ffwd(input)
print x1, x2, output
def createBrain():
"""
Create a random network of the given size
"""
return brain.FeedForwardBrain(sz)
cnt = 0
best_fit = fit
best_guess = copy.deepcopy(guess)
cart.setAngle(math.pi + INIT_ANG)
cnt += 1
if not inc or best_guess == None or (cnt % 10 == 0):
guess = randomWeights(sizes, 1.0)
#cnt=0
else:
scale = random.random() * 0.001
guess = mutate(best_guess, scale)
if net == None:
net = brain.FeedForwardBrain(weight=guess)
else:
net.setWeights(guess)
time = 0
first = False
input = copy.deepcopy(cart.getState())
input[0] = input[0] - math.pi
out = net.ffwd(input)
force = (out[0] - 0.5) * force_scale
# step the car for a single GUI frame
cart.step(force, dt)
