Aart/heritability cleanup

.dockerignore

@@ -0,0 +1,13 @@
+.git/
+/.hgignore
+/.hgreview
+
+/build/
+/cmake-build-*/
+/.venv/
+
+__pycache__/
+
+.idea/
+.vscode/
+/experiments/*/data/

.gitignore

@@ -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

.gitmodules

@@ -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

Dockerfile

@@ -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

cpprevolve/CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required (VERSION 3.7.0)
 
 # Project name
 project (Revolve)
-set (CMAKE_CXX_STANDARD 11)
+set (CMAKE_CXX_STANDARD 17)
 
 # Include cmake subdirectories
 add_subdirectory(revolve/brains)

cpprevolve/revolve/brains/CMakeLists.txt

@@ -1,12 +1,12 @@
-file(GLOB_RECURSE
-        CONTROLLER_SRCS
-        controller/*.cpp
-        controller/actuators/*.cpp
-        controller/sensors/*.cpp
+set (CMAKE_CXX_STANDARD 14)
+
+set(CONTROLLER_SRCS
+    controller/sensors/AngleToTargetDetector.cpp
+    controller/DifferentialCPG.cpp
 )
-file(GLOB_RECURSE
-        LEARNER_SRCS
-        learner/*.cpp
+
+set(LEARNER_SRCS
+    learner/BayesianOptimizer.cpp
 )
 
 # PKG-CONFIG
@@ -17,6 +17,13 @@ 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)
+
+# These dependencies are required for the AngleToTargetDetector Sensor
+find_package(OpenCV REQUIRED)
+#find_package(raspicam REQUIRED) #only on the raspberry side
+
+find_package(MultiNEAT REQUIRED)
 
 # Find NLOpt - Non Linear Optimization
 pkg_check_modules(NLOpt REQUIRED nlopt>=2.4)
@@ -30,16 +37,29 @@ add_library(revolve-learners SHARED ${LEARNER_SRCS})
 
 target_include_directories(revolve-controllers
         PUBLIC ${EIGEN3_INCLUDE_DIR}
-        PUBLIC ${Boost_INCLUDE_DIRS})
+        PUBLIC ${Boost_INCLUDE_DIRS}
+        PUBLIC ${OpenCV_INCLUDE_DIRS}
+)
 
 target_include_directories(revolve-learners
+        PUBLIC ${EIGEN3_INCLUDE_DIR}
         PUBLIC ${Boost_INCLUDE_DIRS}
         PUBLIC ${LIMBO_DIR}/src
         PUBLIC ${NLOpt_INCLUDE_DIRS})
 
-target_include_directories(revolve-learners
-        PUBLIC ${NLOpt_LIBRARY_DIRS})
+target_compile_definitions(revolve-learners
+        PUBLIC USE_NLOPT=1
+)
+
+target_link_libraries(revolve-controllers
+        PUBLIC MultiNEAT::MultiNEAT
+        ${OpenCV_LIBS}
+        )
+
+target_link_libraries(revolve-learners
+        revolve-controllers
+        MultiNEAT::MultiNEAT)
 
 install(TARGETS revolve-controllers revolve-learners
         RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib)
+        LIBRARY DESTINATION lib)

cpprevolve/revolve/brains/controller/Controller.h

@@ -12,22 +12,36 @@
 
 namespace revolve
 {
+class DifferentialCPG;
 
 class Controller
 {
 public:
+    enum ControllerType {
+        NONE = 0,
+        NEURAL_NETWORK,
+        SPLINES,
+        DIFFERENTIAL_CPG,
+        RANDOM,
+        // add new controller types here
+    } const controller_type;
+
     /// \brief Constructor
-    explicit Controller() {}
+    explicit Controller(ControllerType controller_type)
+        : controller_type(controller_type)
+    {}
 
     /// \brief Deconstructor
     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;
+
+    virtual DifferentialCPG* into_DifferentialCPG() { return nullptr; }
 };
 
 }