break
if g >= 5:
diff = np.abs(self.history[-5][1] - self.history[-1][1])
if diff < 1e-2:
print('The best fitness does not change for 10 steps.')
break
self.gtot += 1
if __name__ == '__main__':
# World
world = World()
world.generate_frame([-10, 10], [-10, 10])
world.type = 'cartesian'
# Objects in the cartesian space
og = ObjectGenerator(world)
og.generate_object([[3.5, 6.5], [3.5, 3.5], [6.5, 3.5], [6.5, 6.5]])
# Robot
robot2R = RobotArm(base=[0, 0], lengths=[3.0, 5.0])
robot2R.start = np.array([pi / 2, -pi / 7])
robot2R.goal = np.array([pi / 5, -pi / 7])
# C-space
cspace = World()
cspace.robot = robot2R
cspace.generate_frame([-pi, pi], [-pi, pi])
cspace.start = cspace.robot.start
if diff < 1e-2:
print('The best fitness does not change for 10 steps.')
break
self.gtot += 1
if __name__ == '__main__':
'''
World setting
'''
# World
world = World()
world.generate_frame([-pi, pi], [-pi, pi])
world.type = 'cartesian'
# Objects in the cartesian space
og = ObjectGenerator(world)
og.generate_object_sample1()
# --- Set start/goal point
world.start = np.array([-pi / 2, -pi / 2]) * 1.9
world.goal = np.array([pi / 2, pi / 2]) * 1.9
'''
Functions
'''
NGEN = 1000
n_ind = 100
n_elite = 10
fitness_thresh = 0.1