Solving conflicts

Author: aligot

loop-functions/complexity/AggregationSingleSpot.cpp

@@ -64,6 +64,7 @@ void AggregationSingleSpot::Reset() {
   CoreLoopFunctions::Reset();
 }
 
+
 /****************************************/
 /****************************************/
 

loop-functions/complexity/AggregationSingleSpot.h

@@ -14,6 +14,7 @@
 #include <argos3/plugins/robots/e-puck/simulator/epuck_entity.h>
 
 #include "../../src/CoreLoopFunctions.h"
+//#include "/home/aligot/Desktop/Arena/NEAT-private/src/controllers/NeuralNetworkRM1Dot2Binary.h"
 
 using namespace argos;
 

loop-functions/vanilla/ForagingTwoSpotsLoopFunc.cpp

@@ -104,7 +104,13 @@ void ForagingTwoSpotsLoopFunction::PostStep() {
   UInt32 unId;
   for (CSpace::TMapPerType::iterator it = tEpuckMap.begin(); it != tEpuckMap.end(); ++it) {
     CEPuckEntity* pcEpuck = any_cast<CEPuckEntity*>(it->second);
-    unId = atoi(pcEpuck->GetId().substr(5, 2).c_str());
+    // unId = atoi(pcEpuck->GetId().substr(5, 2).c_str());
+    // expects the id to be in the following form: epuck_{unId}_{robotId}
+    std::string robot_id = pcEpuck->GetId();
+    UInt8 first_underscore = robot_id.find("_");
+    UInt8 second_underscore = robot_id.find("_", first_underscore+1);
+    robot_id = robot_id.substr(first_underscore, second_underscore-first_underscore);
+    unId = atoi(robot_id.c_str());
     cEpuckPosition.Set(pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetX(),
                        pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetY());
 
@@ -117,8 +123,10 @@ void ForagingTwoSpotsLoopFunction::PostStep() {
     } else if (cEpuckPosition.GetY() <= m_fNestLimit) {
       m_fObjectiveFunction = m_fObjectiveFunction + m_punFoodData[unId];
       m_punFoodData[unId] = 0;
+      // LOG << "Obj " << m_fObjectiveFunction << std::endl;
     }
   }
+
   if (score_temp != m_fObjectiveFunction) {
     LOGERR << "Obj " << m_fObjectiveFunction << std::endl;
   }