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Squash of complete experiment/heritability branch into one superheavy…
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… black whole megacommit
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Aart Stuurman committed Aug 9, 2021
1 parent ef809fe commit 6d4bbbf
Showing 212 changed files with 12,310 additions and 2,812 deletions.
6 changes: 3 additions & 3 deletions .circleci/config.yml
Original file line number Diff line number Diff line change
@@ -9,7 +9,7 @@ jobs:
- run: git submodule update --init

- setup_remote_docker:
docker_layer_caching: true
# docker_layer_caching: true

- restore_cache:
keys:
@@ -45,7 +45,7 @@ jobs:

steps:
- setup_remote_docker:
docker_layer_caching: true
# docker_layer_caching: true

- restore_cache:
keys:
@@ -69,7 +69,7 @@ jobs:

steps:
- setup_remote_docker:
docker_layer_caching: true
# docker_layer_caching: true

- restore_cache:
keys:
13 changes: 13 additions & 0 deletions .dockerignore
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
.git/
/.hgignore
/.hgreview

/build/
/cmake-build-*/
/.venv/

__pycache__/

.idea/
.vscode/
/experiments/*/data/
10 changes: 8 additions & 2 deletions .gitignore
Original file line number Diff line number Diff line change
@@ -10,7 +10,8 @@ __pycache__/
.Python
env/
/build/
/cmake-build-*/
cmake-build-*/
cmake-multineat-*/
/output*/
develop-eggs/
dist/
@@ -75,4 +76,9 @@ Pipfile.lock

# Revolve related
*.sdf
*.urdf
*.urdf
src/

# OS crap
.DS_Store
.directory
3 changes: 3 additions & 0 deletions .gitmodules
Original file line number Diff line number Diff line change
@@ -1,3 +1,6 @@
[submodule "thirdparty/limbo"]
path = thirdparty/limbo
url = https://github.com/resibots/limbo.git
[submodule "thirdparty/MultiNEAT"]
path = thirdparty/MultiNEAT
url = https://github.com/ci-group/MultiNEAT.git
5 changes: 4 additions & 1 deletion Dockerfile
Original file line number Diff line number Diff line change
@@ -11,9 +11,12 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \
libcairo2-dev \
graphviz \
libeigen3-dev \
libnlopt-dev && \
libnlopt-dev \
libboost-python-dev \
libboost-numpy-dev &&\
apt-get clean && \
rm -rf /var/lib/apt/lists/*

ADD . /revolve
RUN /revolve/docker/build_install_multineat.sh
RUN /revolve/docker/build_revolve.sh
3 changes: 3 additions & 0 deletions check_running_experiments.sh
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@@ -0,0 +1,3 @@
#!/bin/bash

for i in exp*log; do echo -n "$i "; value=$(grep "Exported snapshot" $i|tail -n1|sed -E "s/\[(.*),.*Exported snapshot ([0-9]+).*/\2 -> \1/g"); echo $value; done
5 changes: 5 additions & 0 deletions cpprevolve/revolve/brains/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -18,6 +18,8 @@ find_package(Boost REQUIRED COMPONENTS system)
# Find Eigen3 - A lightweight C++ template library for vector and matrix math
find_package(Eigen3 REQUIRED)

find_package(MultiNEAT REQUIRED)

# Find NLOpt - Non Linear Optimization
pkg_check_modules(NLOpt REQUIRED nlopt>=2.4)

@@ -40,6 +42,9 @@ target_include_directories(revolve-learners
target_include_directories(revolve-learners
PUBLIC ${NLOpt_LIBRARY_DIRS})

target_link_libraries(revolve-controllers
MultiNEAT::MultiNEAT)

install(TARGETS revolve-controllers revolve-learners
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib)
4 changes: 2 additions & 2 deletions cpprevolve/revolve/brains/controller/Controller.h
Original file line number Diff line number Diff line change
@@ -23,8 +23,8 @@ class Controller
virtual ~Controller() {}

virtual void update(
const std::vector< std::unique_ptr< Actuator > > &_actuators,
const std::vector< std::unique_ptr< Sensor > > &_sensors,
const std::vector<std::shared_ptr<Actuator>> &_actuators,
const std::vector<std::shared_ptr<Sensor>> &_sensors,
const double _time,
const double _step
) = 0;
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