Next: zsc2_experiment Up: Tech.Appendix: LCS as EZCS2 Previous: Tech.Appendix: LCS as EZCS2 Contents
//**************************************************************
// File: zcs_environment_preparation_27may10.sce
// Authors: Gerd Doeben-Henisch
// Version Start: May-18, 2010
//---------------------------------
// Update May-19-2010-1459
// Update May-19-10-2343
// Update May-20-10-0637
// Update May-27-10-1833
//**********************************************************
// diary('H:\fh\scilab\histories\Date.txt')
//diary('/home/gerd/public_html/uffmm/science-technology/single/themes/computer-science/personal-sites/doeben-henisch/KNOW/GBBLT/SCILAB/HISTORIES/May20-10-1032.txt')
//******************************************************************
// CONTENT:
// Code necessary to provide an environment
//
//***************************************************
//**********************************
// GRID 'WOOD1'
//
// Y = r=1...15, X = c=1...55
// The Y-axis is from above (north) to bottom (south), the X-axis is from left (west) to right (east)
// '.' := No Food; encoded '00'
// 'O' := Object (Rock); encoded '10'
// Attention: scilab assumes GRID(Y,X) columns first and then rows!
//********************************************************************
// DYNAMIC GRID GENERATION
// Using the wood1-structure as building blocks
//
// YYMAX := Max number of rows multiplied by 5
// XMAX := Max number of columnsXNtiplied by 5
function[GRID]=gridgen(YYMAX,XXMAX)
if (YYMAX < 1) | (XXMAX < 1) then printf("gridgen:ERROR WITH YYMAX, XXMAX\n\n"), end
for k=1:5:5*YYMAX
i=k
for j=1:5*XXMAX, GRID(i+0,j)='.',end
i=k+1
for j=1:5:5*XXMAX,
GRID(i,j+0)='.'
GRID(i,j+1)='O'
GRID(i,j+2)='O'
GRID(i,j+3)='F'
GRID(i,j+4)='.'
end
i=k+2
for j=1:5:5*XXMAX,
GRID(i,j+0)='.'
GRID(i,j+1)='O'
GRID(i,j+2)='O'
GRID(i,j+3)='O'
GRID(i,j+4)='.'
end
i=k+3
for j=1:5:5*XXMAX,
GRID(i,j+0)='.'
GRID(i,j+1)='O'
GRID(i,j+2)='O'
GRID(i,j+3)='O'
GRID(i,j+4)='.'
end
i=k+4
for j=1:5*XXMAX, GRID(i+0,j)='.',end
end
disp(GRID)
endfunction
//********************************************************************
// DYNAMIC GRID GENERATION
// Using theextended wood1-structure as building block
//
// Allows less food cells in the world
//
// YYMAX := Max number of rows multiplied by 5
// XMAX := Max number of columnsXNtiplied by 5
// S := Inverse scaling to lower the density of food
function [GRID]=gridgen2(YYMAX,XXMAX,S)
if (YYMAX < 1) | (XXMAX < 1) then printf("gridgen:ERROR WITH YYMAX, XXMAX\n\n"), end
r=0
for k=1:5:5*YYMAX
i=k
for j=1:5*XXMAX, GRID(i+0,j)='.',end
i=k+1
for j=1:5:5*XXMAX,
GRID(i,j+0)='.'
GRID(i,j+1)='O'
GRID(i,j+2)='O'
if (S>0) & (r==S) then GRID(i,j+3)='F', r=0, else GRID(i,j+3)='O', r=r+1,end
GRID(i,j+4)='.'
end
i=k+2
for j=1:5:5*XXMAX,
GRID(i,j+0)='.'
GRID(i,j+1)='O'
GRID(i,j+2)='O'
GRID(i,j+3)='O'
GRID(i,j+4)='.'
end
i=k+3
for j=1:5:5*XXMAX,
GRID(i,j+0)='.'
GRID(i,j+1)='O'
GRID(i,j+2)='O'
GRID(i,j+3)='O'
GRID(i,j+4)='.'
end
i=k+4
for j=1:5*XXMAX, GRID(i+0,j)='.',end
end
disp(GRID)
endfunction
//********************************************************************
// TESTGRIDS WITH OBJECTS
//
//
GD3O2F1=['.' '.' '.'; 'O' 'O' '.'; '.' 'F' '.' ]
GD3O2F0=['.' '.' '.'; 'O' 'O' '.'; '.' '.' '.' ]
GD3O2F12=['.' '.' '.'; '.' 'O' 'O'; '.' 'F' '.' ]
GD3O2F13=['.' '.' '.'; '.' 'O' '.'; '.' 'F' '.' ]
//*************************************************
// AUTOMATIC GENERATION OF TRANSITION TABLE
// Takes every cell of a given GRID and computes the transition probabilities
// with regard to every possible direction 1 ... 8
//
function [TGRID]=transprob(GRID)
[r,c]=size(GRID)
TGRID=zeros()
N=r*c
MAX=9
Y=0
while(Y<N)
for y=1:r,
for x=1:c, Y=Y+1
// printf("\n---------------Y = %d----------------------\n\n",Y)
m=1
//Catch wrong indices and evaluate cases
if (y-1)<1 then m=m+1, elseif GRID(y-1, x) == 'O' then TGRID(Y,(y-1)*c+x)=0, m=m+1,else TGRID(Y,(y-1-1)*c+x)=1/MAX, end
if (y-1)<1|(x+1)>c then m=m+1,elseif GRID(y-1, x+1) == 'O' then TGRID(Y,(y-1)*c+x)=0,m=m+1,else TGRID(Y,(y-1-1)*c+x+1)=1/MAX, end
if (x+1)>c then m=m+1,elseif GRID(y, x+1) == 'O' then TGRID(Y,(y-1)*c+x)=0,m=m+1,else TGRID(Y,(y-1)*c+x+1)=1/MAX, end
if (y+1)>r|(x+1)>c then m=m+1,elseif GRID(y+1, x+1) == 'O' then TGRID(Y,(y-1)*c+x)=0,m=m+1,else TGRID(Y,(y-1+1)*c+x+1)=1/MAX, end
if (y+1)>r then m=m+1,elseif GRID(y+1, x) == 'O' then TGRID(Y,(y-1)*c+x)=0,m=m+1,else TGRID(Y,(y-1+1)*c+x)=1/MAX, end
if (y+1)>r|(x-1)<1 then m=m+1,elseif GRID(y+1, x-1) == 'O' then TGRID(Y,(y-1)*c+x)=0,m=m+1,else TGRID(Y,(y-1+1)*c+x-1)=1/MAX, end
if (x-1)<1 then m=m+1,elseif GRID(y, x-1) == 'O' then TGRID(Y,(y-1)*c+x)=0,m=m+1,else TGRID(Y,(y-1)*c+x-1)=1/MAX, end
if (y-1)<1|(x-1)<1 then m=m+1,elseif GRID(y-1, x-1) == 'O' then TGRID(Y,(y-1)*c+x)=0,m=m+1,else TGRID(Y,(y-1-1)*c+x-1)=1/MAX, end
if GRID(y, x)=='O' then for z=1:N,TGRID(Y,z)=0,end
else TGRID(Y,Y)=m/MAX, end
end //x
end //y
end //Y
endfunction
//*************************************************
// AUTOMATIC GENERATION OF TRANSITION TABLE
// Takes every cell of a given GRID and computes the transition probabilities
// with regard to every possible direction 1 ... 8
//
function [TGRID]=transprob_tst(GRID)
[r,c]=size(GRID)
TGRID=zeros()
N=r*c
MAX=9
Y=0
while(Y<N)
for y=1:r,
for x=1:c, Y=Y+1
printf("\n---------------Y = %d----------------------\n\n",Y)
m=1
//Catch wrong indices and evaluate cases
if (y-1)<1 then printf(" __BORDER__"), m=m+1, elseif GRID(y-1, x) == 'O' then printf(" __OBJECT__"),TGRID(Y,(y-1)*c+x)=0, m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1-1)*c+x)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1-1)*c+x, TGRID(Y,(y-1-1)*c+x)), end
if (y-1)<1|(x+1)>c then printf(" __BORDER__"), m=m+1,elseif GRID(y-1, x+1) == 'O' then printf(" __OBJECT__"), TGRID(Y,(y-1)*c+x)=0,m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1-1)*c+x+1)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1-1)*c+x+1,TGRID(Y,(y-1-1)*c+x+1)), end
if (x+1)>c then printf(" __BORDER__"), m=m+1,elseif GRID(y, x+1) == 'O' then printf(" __OBJECT__"), TGRID(Y,(y-1)*c+x)=0,m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1)*c+x+1)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1)*c+x+1,TGRID(Y,(y-1)*c+x+1)), end
if (y+1)>r|(x+1)>c then printf(" __BORDER__"), m=m+1,elseif GRID(y+1, x+1) == 'O' then printf(" __OBJECT__"), TGRID(Y,(y-1)*c+x)=0,m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1+1)*c+x+1)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1+1)*c+x+1,TGRID(Y,(y-1+1)*c+x+1)), end
if (y+1)>r then printf(" __BORDER__"), m=m+1,elseif GRID(y+1, x) == 'O' then printf(" __OBJECT__"), TGRID(Y,(y-1)*c+x)=0,m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1+1)*c+x)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1+1)*c+x,TGRID(Y,(y-1+1)*c+x)), end
if (y+1)>r|(x-1)<1 then printf(" __BORDER__"), m=m+1,elseif GRID(y+1, x-1) == 'O' then printf(" __OBJECT__"), TGRID(Y,(y-1)*c+x)=0,m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1+1)*c+x-1)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1+1)*c+x-1,TGRID(Y,(y-1+1)*c+x-1)), end
if (x-1)<1 then printf(" __BORDER__"), m=m+1,elseif GRID(y, x-1) == 'O' then printf(" __OBJECT__"), TGRID(Y,(y-1)*c+x)=0,m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1)*c+x-1)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1)*c+x-1,TGRID(Y,(y-1)*c+x-1)), end
if (y-1)<1|(x-1)<1 then printf(" __BORDER__"), m=m+1,elseif GRID(y-1, x-1) == 'O' then printf(" __OBJECT__"), TGRID(Y,(y-1)*c+x)=0,m=m+1,else printf(" __MOVE__"),TGRID(Y,(y-1-1)*c+x-1)=1/MAX, printf("(y,x) = (%d,%d) with m = %d TG(Y,Y) = (%d,%d) = %f\n",y,x,m,Y,(y-1-1)*c+x-1,TGRID(Y,(y-1-1)*c+x-1)), end
if GRID(y, x)=='O' then for z=1:N,TGRID(Y,z)=0,end
else TGRID(Y,Y)=m/MAX, end
end //x
end //y
end //Y
endfunction
//**********************************
// RANDOM TEST WORLD FOR BENCHMARKING
//
// This world has one food cell with 'F' in the center and
// has a fixed diameter d according to the distance which
// shall be explored.
function[GRID]=testgrid(DISTANCE)
D=DISTANCE
//Generate normal empty space '.'
for j=1:(2*D)+1,
for i=1:(2*D)+1
GRID(i,j)='.',
end
end
//Locate the food in the center
GRID(D+1,D+1)='F'
endfunction
//***************************************************
// SIMPLE AUTOMATED TEST FRAMEWORK FOR ZCS
//
// Automatic testing for a certain GRID with given numers of runs
//
// ANIMAT := Structure OF ANIMAT system
// HISTORY := Protocol of movements and cumulated rewards
// GRID := Content of environment
// MODE := random (=0), non-random (=1)
// YYMAX := Number of rows times 5
// XXMAX := Number of columns times 5
// RUNS := How many cycles the simulation shall run. 1 cycle means one action
// S := scaling factor in the sparse food case
// GRID := Fixed GRID from external source
// DISTANCE := General distance from food in test field
//Prepare some parameters for liveR()
function [GRID]=liveR1prep(YYMAX, XXMAX, S,GRID,DISTANCE,SHOW)
//GENERATE FIXED TEST GRID
if (S==-1) then [GRID]=testgrid(DISTANCE),
//GENERATE dynamic GRID
elseif (S == 0) then [GRID]=gridgen(YYMAX, XXMAX),
//GENERATE dynamic GRID with sparse food
elseif (S == 1) then [GRID]=gridgen2(YYMAX,XXMAX,S),
// USE external GRID
else S =2,
end
endfunction