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Brain measurements #40

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Merged
merged 3 commits into from
Apr 4, 2019
Merged

Brain measurements #40

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8f49e85
brain measurements
safsaf150 Apr 3, 2019
8dd8163
Merge remote-tracking branch 'upstream/revolve_bot' into brain_drawin…
safsaf150 Apr 3, 2019
984d60f
calling any function multiple times will produce same results in body…
safsaf150 Apr 4, 2019
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103 changes: 75 additions & 28 deletions pyrevolve/revolve_bot/measure.py → ...volve/revolve_bot/measure/measure_body.py
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Original file line number Diff line number Diff line change
@@ -1,17 +1,17 @@
import math
from .render.render import Render
from .render.grid import Grid
from .revolve_module import ActiveHingeModule, BrickModule, TouchSensorModule, BrickSensorModule, CoreModule
from ..render.render import Render
from ..render.grid import Grid
from ..revolve_module import ActiveHingeModule, BrickModule, TouchSensorModule, BrickSensorModule, CoreModule


class Measure:
class MeasureBody:
def __init__(self, body):
self.body = body
self.branching_modules_count = 0
self.branching_modules_count = None
self.branching = None
self.extremities = 0
self.extremities = None
self.limbs = None
self.extensiveness = 0
self.extensiveness = None
self.length_of_limbs = None
self.coverage = None
self.joints = None
Expand All @@ -20,19 +20,23 @@ def __init__(self, body):
self.height = None
self.absolute_size = None
self.size = None
self.sensors = None
self.symmetry = None
self.hinge_count = 0
self.active_hinges_count = 0
self.brick_count = 0
self.brick_sensor_count = 0
self.touch_sensor_count = 0
self.hinge_count = None
self.active_hinges_count = None
self.brick_count = None
self.brick_sensor_count = None
self.touch_sensor_count = None
self.free_slots = None
self.max_permitted_modules = None

def count_branching_bricks(self, module=None):
def count_branching_bricks(self, module=None, init=True):
"""
Count amount of fully branching modules in body
"""
try:
if init:
self.branching_modules_count = 0
if module is None:
module = self.body

Expand All @@ -43,7 +47,7 @@ def count_branching_bricks(self, module=None):
continue
if not isinstance(child_module, TouchSensorModule) and not isinstance(child_module, BrickSensorModule):
children_count += 1
self.count_branching_bricks(child_module)
self.count_branching_bricks(child_module, False)
if (isinstance(module, BrickModule) and children_count == 3) or (isinstance(module, CoreModule) and children_count == 4):
self.branching_modules_count += 1
except Exception as e:
Expand All @@ -59,16 +63,16 @@ def measure_branching(self):
if self.absolute_size < 5:
self.branching = 0
return self.branching
self.count_branching_bricks()
if self.branching_modules_count is None:
self.count_branching_bricks()
if self.branching_modules_count == 0:
self.branching = 0
return 0

practical_limit_branching_bricks = math.floor((self.absolute_size-2)/3)
self.branching = self.branching_modules_count / practical_limit_branching_bricks
return self.branching

def calculate_extremities_extensiveness(self, module=None, extremities=False, extensiveness=False):
def calculate_extremities_extensiveness(self, module=None, extremities=False, extensiveness=False, init=True):
"""
Calculate extremities or extensiveness in body
@param extremities: calculate extremities in body if true
Expand All @@ -77,17 +81,18 @@ def calculate_extremities_extensiveness(self, module=None, extremities=False, ex
try:
if module is None:
module = self.body
if init and extremities:
self.extremities = 0
if init and extensiveness:
self.extensiveness = 0

children_count = 0
for core_slot, child_module in module.iter_children():
if child_module is None:
continue
if not isinstance(child_module, TouchSensorModule):
children_count += 1
if extremities:
self.calculate_extremities_extensiveness(child_module, True, False)
if extensiveness:
self.calculate_extremities_extensiveness(child_module, False, True)
self.calculate_extremities_extensiveness(child_module, extremities, extensiveness, False)
if children_count == 0 and not (isinstance(module, CoreModule) or isinstance(module, TouchSensorModule)) and extremities:
self.extremities += 1
if children_count == 1 and not (isinstance(module, CoreModule) or isinstance(module, TouchSensorModule)) and extensiveness:
Expand All @@ -108,7 +113,9 @@ def measure_limbs(self):
practical_limit_limbs = self.absolute_size - 1
else:
practical_limit_limbs = 2 * math.floor((self.absolute_size - 6) / 3) + ((self.absolute_size - 6) % 3) + 4
self.calculate_extremities_extensiveness(None, True, False)

if self.extremities is None:
self.calculate_extremities_extensiveness(None, True, False)
if self.extremities == 0:
self.limbs = 0
return 0
Expand All @@ -125,7 +132,8 @@ def measure_length_of_limbs(self):
if self.absolute_size < 3:
self.length_of_limbs = 0
return 0
self.calculate_extremities_extensiveness(None, False, True)
if self.extensiveness is None:
self.calculate_extremities_extensiveness(None, False, True)
practical_limit_extensiveness = self.absolute_size - 2
self.length_of_limbs = self.extensiveness / practical_limit_extensiveness
return self.length_of_limbs
Expand Down Expand Up @@ -177,20 +185,22 @@ def measure_coverage(self):
self.coverage = self.absolute_size / (self.width*self.height)
return self.coverage

def count_active_hinges(self, module=None):
def count_active_hinges(self, module=None, init=True):
"""
Count amount of active hinges
"""
try:
if module is None:
module = self.body
if init:
self.active_hinges_count = 0
if module.has_children():
if isinstance(module, ActiveHingeModule):
self.active_hinges_count += 1
for core_slot, child_module in module.iter_children():
if child_module is None:
continue
self.count_active_hinges(child_module)
self.count_active_hinges(child_module, False)
except Exception as e:
print('Failed calculating count')
print('Exception: {}'.format(e))
Expand All @@ -205,7 +215,8 @@ def measure_joints(self):
if self.absolute_size < 3:
self.joints = 0
return 0
self.count_active_hinges()
if self.active_hinges_count is None:
self.count_active_hinges()
practical_limit_active_hinges = self.absolute_size - 2
if self.active_hinges_count == 0:
self.joints = 0
Expand All @@ -226,6 +237,35 @@ def measure_proportion(self):
self.proportion = self.height / self.width
return self.proportion

def count_free_slots(self, module=None, init=True):
"""
Count amount of free slots in body
"""
if module is None:
module = self.body
if init:
self.free_slots = 0
children_count = 0
for core_slot, child_module in module.iter_children():
if child_module is None:
continue
if not isinstance(child_module, TouchSensorModule):
children_count += 1
self.count_free_slots(child_module, False)
if isinstance(module, CoreModule):
self.free_slots += (4-children_count)
if isinstance(module, BrickModule):
self.free_slots += (3-children_count)

def measure_sensors(self, module=None):
"""
Measurement describes the proportion of free slots that contain sensors
"""
if self.free_slots is None:
self.count_free_slots()
self.sensors = self.touch_sensor_count / self.free_slots
return self.sensors

def measure_absolute_size(self, module=None):
"""
Count total amount of modules in body excluding sensors
Expand All @@ -240,11 +280,16 @@ def measure_absolute_size(self, module=None):
print('Failed measuring absolute size')
print('Exception: {}'.format(e))

def calculate_count(self, module=None):
def calculate_count(self, module=None, init=True):
"""
Count amount of modules for each distinct type
"""
try:
if init:
self.hinge_count = 0
self.brick_count = 0
self.brick_sensor_count = 0
self.touch_sensor_count = 0
if module is None:
module = self.body
elif isinstance(module, ActiveHingeModule):
Expand All @@ -260,7 +305,7 @@ def calculate_count(self, module=None):
for core_slot, child_module in module.iter_children():
if child_module is None:
continue
self.calculate_count(child_module)
self.calculate_count(child_module, False)
except Exception as e:
print('Failed calculating count')
print('Exception: {}'.format(e))
Expand Down Expand Up @@ -304,6 +349,7 @@ def measure_all(self):
self.measure_coverage()
self.measure_symmetry()
self.measure_branching()
self.measure_sensors()
return self.measurement_to_dict()

def measurement_to_dict(self):
Expand All @@ -330,5 +376,6 @@ def measurement_to_dict(self):
'height': self.height,
'absolute_size': self.absolute_size,
'size': self.size,
'sensors': self.sensors,
'symmetry': self.symmetry
}
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