fit_qd.hpp

//| This file is a part of the sferes2 framework.
//| Copyright 2009, ISIR / Universite Pierre et Marie Curie (UPMC) / 
//| Main contributor(s): Antoine Cully a.cully@imperial.ac.uk, Jean-Baptiste Mouret, mouret@isir.fr
//|
//| This software is a computer program whose purpose is to facilitate
//| experiments in evolutionary computation and evolutionary robotics.
//|
//| This software is governed by the CeCILL license under French law
//| and abiding by the rules of distribution of free software.  You
//| can use, modify and/ or redistribute the software under the terms
//| of the CeCILL license as circulated by CEA, CNRS and INRIA at the
//| following URL "http://www.cecill.info".
//|
//| As a counterpart to the access to the source code and rights to
//| copy, modify and redistribute granted by the license, users are
//| provided only with a limited warranty and the software's author,
//| the holder of the economic rights, and the successive licensors
//| have only limited liability.
//|
//| In this respect, the user's attention is drawn to the risks
//| associated with loading, using, modifying and/or developing or
//| reproducing the software by the user in light of its specific
//| status of free software, that may mean that it is complicated to
//| manipulate, and that also therefore means that it is reserved for
//| developers and experienced professionals having in-depth computer
//| knowledge. Users are therefore encouraged to load and test the
//| software's suitability as regards their requirements in conditions
//| enabling the security of their systems and/or data to be ensured
//| and, more generally, to use and operate it in the same conditions
//| as regards security.
//|
//| The fact that you are presently reading this means that you have
//| had knowledge of the CeCILL license and that you accept its terms.


#ifndef QD_FIT_QD_HPP__
#define QD_FIT_QD_HPP__


#include <sferes/fit/fitness.hpp>

#define FIT_QD(Name) SFERES_FITNESS(Name, sferes::fit::FitQD)

namespace sferes
{
  namespace fit
  {
    SFERES_FITNESS(FitQD, sferes::fit::Fitness)
    {
      public:
      FitQD() :
	_dead(false),
	_desc(Params::ea::behav_dim),
	_novelty(-std::numeric_limits<double>::infinity()),
	_curiosity(0),
	_lq(0)
      {}

      const std::vector<float>& desc() const { return _desc; }
      double novelty()const {return _novelty;}
      void set_novelty(double nov) {_novelty=nov;}
      double curiosity()const {return _curiosity;}
      void set_curiosity(double cur) {_curiosity=cur;}

      double local_quality()const {return _lq;}
      void set_local_quality(double lq) {_lq=lq;}
      
      void set_desc(std::vector<float> &x)
      {
	assert(x.size() == Params::ea::behav_dim);
	/*for(size_t i = 0; i < x.size(); ++i)
	  {
	    assert(x[i] >= 0.0 && x[i] <= 1.0);
	    }*/
	_desc = x;
      }
      bool dead() const {return _dead;}
      
      void set_value(float val){this->_value=val;}
      
    protected:
      bool _dead;
      std::vector<float> _desc;
      double _novelty;
      double _curiosity;
      double _lq;
    };
  }
}

#endif