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addition of ccpgs #3

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addition of ccpgs #3

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ede1373
done
raki123 Nov 16, 2016
0d18ccc
changed according to info from revolve-brain
raki123 Nov 17, 2016
7eee209
some common sense changes
raki123 Nov 17, 2016
1351bf8
compiling but not working
raki123 Nov 19, 2016
4d2e9f9
save
raki123 Nov 20, 2016
37cebf0
revert
raki123 Nov 20, 2016
f9d6ee7
save
raki123 Nov 21, 2016
4ca6702
first fix
raki123 Nov 21, 2016
4d21c62
finished, cleaned up version of brain split in controller and learner
raki123 Nov 22, 2016
b4d394f
finished, cleaned up version of brain split in controller and learner
raki123 Nov 22, 2016
f834b2b
added RLPower learner combined with ExtNN
raki123 Nov 23, 2016
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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,9 @@ target/
# PyCharm project files
.idea

#kdev files
*.kdev4

# Virtual env
.venv

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3 changes: 3 additions & 0 deletions cpp/CMakeLists.txt
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Expand Up @@ -65,6 +65,9 @@ file(GLOB_RECURSE
tol/plugin/fakebrain.cpp
tol/plugin/helper.cpp
tol/plugin/rlpower.cpp
tol/plugin/simple_split_brain.cpp
tol/plugin/extended_neural_network.cpp
tol/plugin/rlpowered_network.cpp
)

add_library(tolworldcontrol SHARED ${TOL_WORLD_SRC})
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11 changes: 8 additions & 3 deletions cpp/tol/plugin/RobotController.cpp
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Expand Up @@ -7,6 +7,9 @@

#include "RobotController.h"
#include "rlpower.h"
#include "simple_split_brain.h"
#include "extended_neural_network.h"
#include "rlpowered_network.h"

#include <iostream>

Expand All @@ -17,7 +20,7 @@ RobotController::RobotController() {}
RobotController::~RobotController() {}

void RobotController::Load(::gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
::revolve::gazebo::RobotController::Load(_parent, _sdf);
::revolve::gazebo::RobotController::Load(_parent, _sdf);
std::cout << "ToL Robot loaded." << std::endl;
}

Expand All @@ -35,9 +38,11 @@ void RobotController::LoadBrain(sdf::ElementPtr sdf)
std::cerr << "Brain does not define type, this is probably an error." << std::endl;
return;
}

if (brain->GetAttribute("algorithm")->GetAsString() == "rlpower") {
brain_.reset(new tol::RLPower(this->model->GetName(), brain, evaluator_, motors_, sensors_));
// brain_.reset(new tol::RLPower(this->model->GetName(), brain,evaluator_, motors_, sensors_));
brain_.reset(new tol::RLPowerNet(this->model->GetName(), brain,evaluator_, motors_, sensors_));
// brain_. reset(new tol::ExtNN(this->model->GetName(), evaluator_, brain, motors_, sensors_));
// brain_.reset(new tol::ExtendedNeuralNetwork(this->model->GetName(), evaluator_, brain, motors_, sensors_));
} else {
std::cout << "Calling default ANN brain." << std::endl;
revolve::gazebo::RobotController::LoadBrain(sdf);
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2 changes: 2 additions & 0 deletions cpp/tol/plugin/RobotController.h
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Expand Up @@ -12,6 +12,8 @@
#include "rlpower.h"
#include "evaluator.h"

#include <boost/make_shared.hpp>

namespace tol {

class RobotController: public revolve::gazebo::RobotController {
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