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aligotaligot
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New aggregation loopfunctions for Antoine
1 parent 541bd2b commit 03180d2

10 files changed

+530
-3
lines changed

‎CMakeLists.txt

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@@ -29,7 +29,7 @@ include(${CMAKE_SOURCE_DIR}/src/cmake/ARGoSBuildChecks.cmake)
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# Set base source files
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#
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add_subdirectory(src)
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add_subdirectory(manual-controllers)
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if(ARGOS_BUILD_FOR_SIMULATOR)
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add_subdirectory(loop-functions)

‎loop-functions/CMakeLists.txt

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@@ -7,6 +7,9 @@ link_directories(
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#add_subdirectory(chocolate)
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#add_subdirectory(example)
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add_subdirectory(gianduja)
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#add_subdirectory(gianduja)
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add_subdirectory(complexity)
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add_subdirectory(vanilla)
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add_subdirectory(extra)
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add_subdirectory(visual-add-ons)
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#add_subdirectory(debug)

‎loop-functions/complexity/AggregationSingleSpot.cpp

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/**
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* @file <loop-functions/AggregationTwoSpotsLoopFunc.cpp>
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*
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* @author Antoine Ligot - <[email protected]>
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*
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* @license MIT License
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*/
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#include "AggregationSingleSpot.h"
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/****************************************/
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/****************************************/
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AggregationSingleSpot::AggregationSingleSpot() {
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m_fRadius = 0.3;
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m_cCoordSpot1 = CVector2(0,0);
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m_unScoreSpot1 = 0;
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m_fObjectiveFunction = 0;
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}
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/****************************************/
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/****************************************/
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AggregationSingleSpot::AggregationSingleSpot(const AggregationSingleSpot& orig) {}
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/****************************************/
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/****************************************/
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void AggregationSingleSpot::Init(TConfigurationNode& t_tree) {
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CoreLoopFunctions::Init(t_tree);
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}
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/****************************************/
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/****************************************/
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AggregationSingleSpot::~AggregationSingleSpot() {}
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/****************************************/
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/****************************************/
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void AggregationSingleSpot::Destroy() {}
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/****************************************/
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/****************************************/
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argos::CColor AggregationSingleSpot::GetFloorColor(const argos::CVector2& c_position_on_plane) {
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CVector2 vCurrentPoint(c_position_on_plane.GetX(), c_position_on_plane.GetY());
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Real d = (m_cCoordSpot1 - vCurrentPoint).Length();
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if (d <= m_fRadius) {
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return CColor::BLACK;
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}
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return CColor::GRAY50;
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}
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/****************************************/
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/****************************************/
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void AggregationSingleSpot::Reset() {
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m_fObjectiveFunction = 0;
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m_unScoreSpot1 = 0;
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CoreLoopFunctions::Reset();
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}
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/****************************************/
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/****************************************/
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void AggregationSingleSpot::PostExperiment() {
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CSpace::TMapPerType& tEpuckMap = GetSpace().GetEntitiesByType("epuck");
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CVector2 cEpuckPosition(0,0);
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for (CSpace::TMapPerType::iterator it = tEpuckMap.begin(); it != tEpuckMap.end(); ++it) {
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CEPuckEntity* pcEpuck = any_cast<CEPuckEntity*>(it->second);
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cEpuckPosition.Set(pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetX(),
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pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetY());
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Real fDistanceSpot1 = (m_cCoordSpot1 - cEpuckPosition).Length();
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if (fDistanceSpot1 <= m_fRadius) {
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m_unScoreSpot1 += 1;
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}
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}
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m_fObjectiveFunction = m_unScoreSpot1/(Real) m_unNumberRobots;
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LOG << "Score = " << m_fObjectiveFunction << std::endl;
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}
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/****************************************/
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/****************************************/
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Real AggregationSingleSpot::GetObjectiveFunction() {
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return m_fObjectiveFunction;
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}
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/****************************************/
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/****************************************/
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CVector3 AggregationSingleSpot::GetRandomPosition() {
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Real temp;
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Real a = m_pcRng->Uniform(CRange<Real>(0.0f, 1.0f));
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Real b = m_pcRng->Uniform(CRange<Real>(0.0f, 1.0f));
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// If b < a, swap them
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if (b < a) {
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temp = a;
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a = b;
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b = temp;
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}
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Real fPosX = b * m_fDistributionRadius * cos(2 * CRadians::PI.GetValue() * (a/b));
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Real fPosY = b * m_fDistributionRadius * sin(2 * CRadians::PI.GetValue() * (a/b));
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return CVector3(fPosX, fPosY, 0);
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}
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REGISTER_LOOP_FUNCTIONS(AggregationSingleSpot, "aggregation_single");

‎loop-functions/complexity/AggregationSingleSpot.h

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/**
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*
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* @author Antoine Ligot - <[email protected]>
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*
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* @package ARGoS3-AutoMoDe
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*
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* @license MIT License
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*/
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#ifndef AGGREGATION_SINGLE_SPOT
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#define AGGREGATION_SINGLE_SPOT
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#include <argos3/core/simulator/space/space.h>
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#include <argos3/plugins/robots/e-puck/simulator/epuck_entity.h>
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#include "../../src/CoreLoopFunctions.h"
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using namespace argos;
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class AggregationSingleSpot: public CoreLoopFunctions {
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public:
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AggregationSingleSpot();
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AggregationSingleSpot(const AggregationSingleSpot& orig);
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virtual ~AggregationSingleSpot();
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virtual void Destroy();
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virtual void Init(TConfigurationNode& t_tree);
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virtual argos::CColor GetFloorColor(const argos::CVector2& c_position_on_plane);
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virtual void PostExperiment();
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virtual void Reset();
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Real GetObjectiveFunction();
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CVector3 GetRandomPosition();
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private:
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Real m_fRadius;
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CVector2 m_cCoordSpot1;
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UInt32 m_unScoreSpot1;
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Real m_fObjectiveFunction;
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};
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#endif

‎loop-functions/complexity/AggregationTwoSpots5050.cpp

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/**
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* @file <loop-functions/AggregationTwoSpotsLoopFunc.cpp>
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*
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* @author Antoine Ligot - <[email protected]>
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*
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* @license MIT License
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*/
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#include "AggregationTwoSpots5050.h"
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/****************************************/
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/****************************************/
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AggregationTwoSpots5050::AggregationTwoSpots5050() {
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m_fRadius = 0.3;
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m_cCoordSpot1 = CVector2(0.5,0);
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m_cCoordSpot2 = CVector2(-0.5,0);
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m_unScoreSpot1 = 0;
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m_unScoreSpot2 = 0;
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m_fObjectiveFunction = 0;
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}
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/****************************************/
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/****************************************/
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AggregationTwoSpots5050::AggregationTwoSpots5050(const AggregationTwoSpots5050& orig) {}
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/****************************************/
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/****************************************/
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void AggregationTwoSpots5050::Init(TConfigurationNode& t_tree) {
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CoreLoopFunctions::Init(t_tree);
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}
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/****************************************/
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/****************************************/
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AggregationTwoSpots5050::~AggregationTwoSpots5050() {}
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/****************************************/
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/****************************************/
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void AggregationTwoSpots5050::Destroy() {}
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/****************************************/
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/****************************************/
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argos::CColor AggregationTwoSpots5050::GetFloorColor(const argos::CVector2& c_position_on_plane) {
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CVector2 vCurrentPoint(c_position_on_plane.GetX(), c_position_on_plane.GetY());
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Real d = (m_cCoordSpot1 - vCurrentPoint).Length();
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if (d <= m_fRadius) {
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return CColor::BLACK;
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}
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d = (m_cCoordSpot2 - vCurrentPoint).Length();
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if (d <= m_fRadius) {
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return CColor::BLACK;
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}
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return CColor::GRAY50;
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}
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/****************************************/
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/****************************************/
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void AggregationTwoSpots5050::Reset() {
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m_fObjectiveFunction = 0;
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m_unScoreSpot1 = 0;
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m_unScoreSpot2 = 0;
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CoreLoopFunctions::Reset();
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}
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/****************************************/
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/****************************************/
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void AggregationTwoSpots5050::PostExperiment() {
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CSpace::TMapPerType& tEpuckMap = GetSpace().GetEntitiesByType("epuck");
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CVector2 cEpuckPosition(0,0);
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for (CSpace::TMapPerType::iterator it = tEpuckMap.begin(); it != tEpuckMap.end(); ++it) {
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CEPuckEntity* pcEpuck = any_cast<CEPuckEntity*>(it->second);
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cEpuckPosition.Set(pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetX(),
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pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetY());
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Real fDistanceSpot1 = (m_cCoordSpot1 - cEpuckPosition).Length();
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Real fDistanceSpot2 = (m_cCoordSpot2 - cEpuckPosition).Length();
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if (fDistanceSpot1 <= m_fRadius) {
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m_unScoreSpot1 += 1;
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} else if (fDistanceSpot2 <= m_fRadius){
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m_unScoreSpot2 += 1;
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}
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}
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m_fObjectiveFunction = Min(m_unScoreSpot1, m_unScoreSpot2)/((Real) m_unNumberRobots/2);
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LOG << "Score = " << m_fObjectiveFunction << std::endl;
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}
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/****************************************/
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/****************************************/
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Real AggregationTwoSpots5050::GetObjectiveFunction() {
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return m_fObjectiveFunction;
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}
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/****************************************/
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/****************************************/
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CVector3 AggregationTwoSpots5050::GetRandomPosition() {
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Real temp;
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Real a = m_pcRng->Uniform(CRange<Real>(0.0f, 1.0f));
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Real b = m_pcRng->Uniform(CRange<Real>(0.0f, 1.0f));
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// If b < a, swap them
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if (b < a) {
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temp = a;
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a = b;
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b = temp;
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}
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Real fPosX = b * m_fDistributionRadius * cos(2 * CRadians::PI.GetValue() * (a/b));
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Real fPosY = b * m_fDistributionRadius * sin(2 * CRadians::PI.GetValue() * (a/b));
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return CVector3(fPosX, fPosY, 0);
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}
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REGISTER_LOOP_FUNCTIONS(AggregationTwoSpots5050, "aggregation_5050");

‎loop-functions/complexity/AggregationTwoSpots5050.h

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/**
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*
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* @author Antoine Ligot - <[email protected]>
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*
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* @package ARGoS3-AutoMoDe
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*
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* @license MIT License
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*/
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#ifndef AGGREGATION_TWO_SPOTS_50_50
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#define AGGREGATION_TWO_SPOTS_50_50
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#include <argos3/core/simulator/space/space.h>
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#include <argos3/plugins/robots/e-puck/simulator/epuck_entity.h>
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#include "../../src/CoreLoopFunctions.h"
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using namespace argos;
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class AggregationTwoSpots5050: public CoreLoopFunctions {
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public:
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AggregationTwoSpots5050();
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AggregationTwoSpots5050(const AggregationTwoSpots5050& orig);
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virtual ~AggregationTwoSpots5050();
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virtual void Destroy();
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virtual void Init(TConfigurationNode& t_tree);
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virtual argos::CColor GetFloorColor(const argos::CVector2& c_position_on_plane);
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virtual void PostExperiment();
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virtual void Reset();
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Real GetObjectiveFunction();
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CVector3 GetRandomPosition();
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private:
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Real m_fRadius;
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CVector2 m_cCoordSpot1;
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CVector2 m_cCoordSpot2;
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UInt32 m_unScoreSpot1;
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UInt32 m_unScoreSpot2;
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Real m_fObjectiveFunction;
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};
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#endif

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