WIP integrating Learning in evolution #84
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Added compiled proto files (c++ and python)
and added reporter in hyperneat
…oat to double in protobuf robotstateslearning.proto.
- C++14 - removed old DifferentialCPG - reset robot position after evaluation - load best controller at the end of learning - better separated learner and controller when loading - fixed implicit conversion of negative integer into unsigned integer
the NN needs to be activated as many times as the network is deep
- Added AngleToTargetDetectorClass - Added camera to HW controller - added OpenCV dependency - added raspicam dependency
DaanZ
reviewed
May 13, 2020
| : next_state(nullptr) | ||
| const DifferentialCPG::ControllerParams ¶ms, | ||
| const std::vector<std::shared_ptr<Actuator>> &actuators, | ||
| std::shared_ptr<AngleToTargetDetector> angle_to_target_sensor) |
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Does every future version need to specify these parameters?
| const NEAT::Genome &gen) | ||
| : next_state(nullptr) | ||
| const NEAT::Genome &gen, | ||
| std::shared_ptr<AngleToTargetDetector> angle_to_target_sensor) |
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Is this necessary for future experiments?
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| double DifferentialCPG::output_function(double input) const | ||
| { | ||
| return this->output_signal_factor |
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Split up formula for better readability.
| @@ -78,7 +78,7 @@ if (LOCAL_GAZEBO_DIR) | |||
| NO_DEFAULT_PATH) | |||
| message(WARNING "Using local Gazebo @ ${gazebo_DIR}") | |||
| else() | |||
| find_package(gazebo 9 REQUIRED) | |||
| find_package(gazebo 10 REQUIRED) | |||
| const std::vector<std::shared_ptr<Actuator>> &_actuators); | ||
| const DifferentialCPG::ControllerParams ¶ms, | ||
| const std::vector<std::shared_ptr<Actuator>> &_actuators, | ||
| std::shared_ptr<AngleToTargetDetector> angle_to_target_sensor = nullptr); |
| this->current_position_.Reset(); | ||
| this->previous_position_.Reset(); | ||
| this->start_position_.Reset(); | ||
| this->locomotion_type = "directed"; // {directed, gait} | ||
| this->locomotion_type = "turing_left"; // {directed, gait} |
| this->path_length = 0.0; | ||
| } | ||
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| ///////////////////////////////////////////////// | ||
| Evaluator::~Evaluator() = default; | ||
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| ///////////////////////////////////////////////// | ||
| void Evaluator::Reset() | ||
| void Evaluator::reset() |
| std::cout << "Loading controller " << controller_type << " and learner " << learner << std::endl; | ||
| auto brain_sdf = _sdf->GetElement("rv:brain"); | ||
| auto controller_type = brain_sdf->GetElement("rv:controller")->GetAttribute("type")->GetAsString(); | ||
| auto learner_type = brain_sdf->GetElement("rv:learner")->GetAttribute("type")->GetAsString(); |
| @@ -265,10 +295,28 @@ void RobotController::CheckUpdate(const ::gazebo::common::UpdateInfo _info) | |||
| /// Default update function simply tells the brain to perform an update | |||
| void RobotController::DoUpdate(const ::gazebo::common::UpdateInfo _info) | |||
| { | |||
| auto currentTime = _info.simTime.Double() - initTime_; | |||
| const gz::common::Time current_time = _info.simTime - initTime_; | |||
| const double current_time_d = current_time.Double(); | |||
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| if (brain_) |
- Continue run - Load best genome IMC: - Modularity from yaml - open-loop logging BO: - LHS initialization Evaluator: - Logging components of the fitnesses - Reset robot correctly with fitness Positionmotor: - Added possibility for motor input noise python_code: - Added yaml functionality for IMC plane.world: - Added realtime and camera #commented <!-- -->
- Continue run - Load best genome IMC: - Modularity from yaml - open-loop logging BO: - LHS initialization Evaluator: - Logging components of the fitnesses - Reset robot correctly with fitness Positionmotor: - Added possibility for motor input noise python_code: - Added yaml functionality for IMC plane.world: - Added realtime and camera #commented <!-- -->
- Continue run - Load best genome IMC: - Modularity from yaml - open-loop logging BO: - LHS initialization Evaluator: - Logging components of the fitnesses - Reset robot correctly with fitness Positionmotor: - Added possibility for motor input noise python_code: - Added yaml functionality for IMC plane.world: - Added realtime and camera #commented <!-- -->
- Continue run - Load best genome IMC: - Modularity from yaml - open-loop logging BO: - LHS initialization Evaluator: - Logging components of the fitnesses - Reset robot correctly with fitness Positionmotor: - Added possibility for motor input noise python_code: - Added yaml functionality for IMC plane.world: - Added realtime and camera #commented <!-- -->
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