NeuroEvolution.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef NEUROEVOLUTION_H_
#define NEUROEVOLUTION_H_

#include "NeuroEvoPopulation.h"
#include "NeuroEvoMember.h"
#include <fstream>

class NeuroEvolution
{
public:
                NeuroEvolution(std::string suffix, std::string config = "config.ini", std::string path = "");
                ~NeuroEvolution();
                void mutateEveryController();
    void combineAndMutate();
                void orderAllPopulations();
                void evaluatePopulation();
                std::vector< NeuroEvoMember *> nextSetOfControllers();
                void updateScores(std::vector<double> scores);
    const std::string suffix;
    std::string resourcePath;
private:
                int populationSize;
                int numberOfControllers;
                std::tr1::ranlux64_base_01 eng;
                std::vector< NeuroEvoPopulation *> populations;
                std::vector <NeuroEvoMember *>  selectedControllers;
                std::vector< std::vector< double > > scoresOfTheGeneration;
//              double minValue;
//              double maxValue;
                double leniencyCoef;
    bool seeded;
                bool coevolution;
                std::ofstream evolutionLog;
                int currentTest;
                int numberOfTestsBetweenGenerations;
                int generationNumber;
                int numberOfElementsToMutate;
    int numberOfChildren;
    int numberOfSubtests;
    int subTests;
};

#endif /* NEUROEVOLUTION_H_ */