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//**************************************************************
// File: environment_v6.sci
// Authors: Gerd Doeben-Henisch
// Version Start: May-18, 2010
//---------------------------------
// Last Change: Dec-3, 2012, 18:00h
//**********************************************************
// DIARIES
//
// 3.dec 12: added Tolman2 maze
// 3.dec 12: added new envronment-function running until goal is found
//******************************************************************
// CONTENT:
// Code necessary to provide an environment
// in the style of WOOD1 from Wilson (1994)
//
// [GRID]=gridgen(YYMAX,XXMAX) := Generate a WOOD1-world
// SYSTEMS[] := Table with id's of systems with their X- and Y-coordinates
// MOVES[] := Table with moves of the sytems
//***********************************************************************
//**********************************
// 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'
// 'F' := Food; encoded '11'
// Attention: scilab assumes GRID(Y,X) rows first and then columns!
//********************************************************************
// DYNAMIC GRID GENERATION
// Using the wood1-structure as building blocks
//
// YYMAX := Max number of rows multiplied by 5
// XMAX := Max number of columns multiplied 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
//*************************************************************
// TOLMAN's MAZE 1
//
// An environment according to the paper
// "COGNITIVE MAPS IN RATS AND MEN"
// by Edward C. Tolman (1948)
//First published in The Psychological Review, 55(4), 189-208.
//
//
TOLMAN1=['O' 'O' 'O' 'O' 'O' 'O' 'O';'O' '.' 'O' 'O' 'O' 'F' 'O'; 'O' '.' 'O' 'O' 'O' '.' 'O'; 'O' '.' '.' '.' '.' '.' 'O'; 'O' 'O' 'O' '.' 'O' 'O' 'O'; 'O' 'O' 'O' 'O' 'O' 'O' 'O' ]
TOLMAN2=['.' '.' '.' '.' '.' '.' '.' '.' 'O' 'O' 'O' '.' '.' '.' '.' '.' '.' '.' '.' '.' '.';
'.' '.' '.' '.' '.' '.' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.' '.' '.' '.' '.' '.';
'.' '.' '.' '.' '.' '.' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.' '.' '.' '.' '.' '.';
'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O' '.' 'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O';
'O' '.' '.' '.' '.' '.' '.' '.' '.' '.' 'O' '.' '.' '.' '.' '.' '.' '.' '.' '.' 'O';
'O' 'O' 'O' 'O' '.' 'O' 'O' 'O' 'O' '.' 'O' 'O' 'O' 'O' '.' 'O' 'O' 'O' 'O' 'O' 'O';
'.' '.' '.' 'O' '.' 'O' '.' '.' 'O' '.' 'O' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.';
'.' '.' '.' 'O' '.' 'O' '.' '.' 'O' '.' 'O' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.';
'O' 'O' 'O' 'O' '.' 'O' 'O' 'O' 'O' '.' 'O' 'O' 'O' 'O' '.' 'O' '.' '.' '.' '.' '.';
'.' '.' '.' '.' '.' 'O' '.' '.' '.' '.' '.' '.' '.' '.' '.' 'O' '.' '.' '.' '.' '.';
'O' 'O' 'O' 'O' '.' 'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O' 'O' '.' 'O' '.' '.' '.' '.' '.';
'.' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.';
'.' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.' '.' '.' 'O' '.' 'O' '.' '.' '.' '.' '.';
'.' '.' '.' 'O' 'O' 'O' '.' '.' '.' '.' '.' '.' '.' 'O' 'O' 'O' '.' '.' '.' '.' '.']
//***********************************************************
// SYSTEMS[]
//
// Table with id's of systems with their X- and Y-coordinates
//************************************************************
//COLUMNS:
// ID - OLD POS - DIR - NEW POS - CONT ENERGY ACTION - ENERGY-LOG
//
// ID := Id of system
// OLD POS := (Y,X)
// DIR := intended direction
// NEW POS := (Y',X')
// CONT := Content of intended new position
// ENERGY := Energy gain/ loss when realizing movement
// ACTION := '0' no movement, '1' movement
SYSTEMS=[1 2 5 0 0 0 0 0 0 0; 2 7 10 0 0 0 0 0 0 0; 3 9 15 0 0 0 0 0 0 0]
// ****************************************
// For Tolman1 Experiment
SYSTEMS2=[1 5 4 0 0 0 0 0 0 0]
// ****************************************
// For Tolman2 Experiment
SYSTEMS3=[1 10 1 0 0 0 0 0 0 0]
//*********************************************************
// EMBED SYSTEMS into GRID
//
// Idea:
// GRID(SYSTEMS1(1,2),SYSTEMS1(1,3))=strcat(["*",string(SYSTEMS1(1,1))])
//*********************************************************************
function [GRID]=embedSysGrid(GRID,SYSTEMS)
sys='*'
rows=size(SYSTEMS,"r")
for i=1:rows
GRID(SYSTEMS(i,2),SYSTEMS(i,3))=strcat([sys,string(SYSTEMS(i,1))])
end
endfunction
//*************************************************
// NEW POSITION
// Having the OLD position POS and the intended movement as DIR,
// the function computes the NEW Pos
//
// XO, YO := old X-Y-Position
// DIR := direction of move
// XN, XN := new X-Y-Position
//
// ATTENTION : scilab counts Y from 'top = north' downwards to 'down = south'
// Thus to move to the 'north' with '01' you have to subtract '1'
// The same with a move from 'right = east' to the 'left = west'
//
function [YN,XN] =newMove(YO, XO, DIR)
//The cells will be searched from 'north' in clockwise order
if DIR == 0 then XN=XO, YN=YO
elseif DIR == 1 then YN=YO-1, XN=XO
elseif DIR==2 then YN=YO-1, XN=XO+1
elseif DIR==3 then YN=YO, XN=XO+1
elseif DIR==4 then YN=YO+1, XN=XO+1
elseif DIR==5 then YN=YO+1, XN=XO
elseif DIR==6 then YN=YO+1, XN=XO-1
elseif DIR==7 then YN=YO, XN=XO-1
elseif DIR==8 then YN=YO-1, XN=XO-1
else printf("mover:ERROR WITH MOVEMENT AT = (YO,XO) = ( %d,%d)\n",YO,XO)
end
endfunction
//*************************************************
// RANDOM DIRECTIONS
// Generates movements based on uniform random numbers from 0 ... 8
//
function [R] =moveRand()
R=floor(9*rand())
//printf("mover:RANDOM NUMBER R= %d\n\n",R)
endfunction
//***************************************************
// contEncode()
//
// Function to encode the content of a GRID-cell into numbers
// The encoding is as follows:
// '.' := Empty space encoded '0'
// 'O' := Object Rock encoded '2'
// 'F' := Object Food encoded '3'
// '*i' := Other system encoded '4'
// The 'Border' is encoded as '1'
function[SYSTEMS]=contEncode(Y,X,GRID, i,SYSTEMS)
[YMAX, XMAX]=size(GRID)
if (X > XMAX) | (X < 1) | (Y > YMAX) | (Y <1) then SYSTEMS(i,7)=1
elseif GRID(Y,X) =='.' then SYSTEMS(i,7)=0
elseif GRID(Y,X) =='O' then SYSTEMS(i,7)=2
elseif GRID(Y,X) =='F' then SYSTEMS(i,7)=3
elseif part(GRID(Y,X),1:1)=='*' then SYSTEMS(i,7)=4
else printf("contEncode:ERROR AT CELL =( %d,%d)\n",Y,X)
end
endfunction
//*************************************************
// MOVEMENT EVALUATION
// DEPENDING FROM CONTENT OF NEW PROPOSED POSITION SELECT ACTION
//
// Borderline '1':= -3 (negative reward)
// Object '2' := -2 (negative reward)
// Empty cell '0':= -1 (move into it, but looses energy)
// Food '3' := (move into it, reward +1000)
//
// FOODVAL := Global value for energy when intakte of food
function [SYSTEMS] =moveEval(SYSTEMS, i,FOODEVAL)
//CONT = SYSTEMS(i,7)
//REW = SYSTEMS(i,8)
//ACT = SYSTEMS(i,9)
if SYSTEMS(i,7) == 1 then SYSTEMS(i,8)=-1, SYSTEMS(i,9)=0
elseif SYSTEMS(i,7) == 0 then SYSTEMS(i,8)=-2, SYSTEMS(i,9)=1
elseif SYSTEMS(i,7) == 2 then SYSTEMS(i,8)=-1, SYSTEMS(i,9)=0
elseif SYSTEMS(i,7) == 3 then SYSTEMS(i,8)=FOODEVAL, SYSTEMS(i,9)=1
elseif SYSTEMS(i,7) == 4 then SYSTEMS(i,8)=-1, SYSTEMS(i,9)=0
else printf("moveEval:ERROR WITH MOVEEVAL\n\n")
end
endfunction
//*************************************************
// MOVEMENT REALIZATION
//
//
// If the SYSTEMS table shows after the move evaluation a '1' then the new move
// has to be realized, otherwise not.
// The realization of a move involves the following actions:
// (1) delete the old position in GRID
// (2) insert the new position in SYSTEMS by replacing the old one
function [GRID,SYSTEMS] = moveRealization(i,GRID,SYSTEMS)
if SYSTEMS(i,9) == 1 then GRID(SYSTEMS(i,2),SYSTEMS(i,3))='.', SYSTEMS(i,2)=SYSTEMS(i,5), SYSTEMS(i,3)=SYSTEMS(i,6)
end
endfunction
//*************************************************
// ENERGY LOG
//
// Summing up the energy level
// Assuming an initial value for every system
ENERGYSTART=100
FOODEVAL=1000
function [SYSTEMS]=energyLog(SYSTEMS,ENERGYSTART)
[r,c]=size(SYSTEMS)
//Summing the final colum with the changes of column 8
for i=1:r, SYSTEMS(i,10)=SYSTEMS(i,10)+SYSTEMS(i,8)
end
endfunction
//**********************************************************
// PARTIAL ZEROING
//
// Reset of SYSTEMS forcolumns 5-9
//
function [SYSTEMS]=movesZeroing(SYSTEMS)
[r,c]=size(SYSTEMS)
for i=1:r
for j=4:c-1
SYSTEMS(i,j)=0
end
end
endfunction
//**********************************************************
// ENVIRONMENT FUNCTION PSI
//
//----------------------------------
// INITIALIZE:
// - GRID with initial space and objects.
// - SYSTEMS with initial positions of systems.
// - Embed SYSTEMS in GRID with embedSysGrid()
//
// LOOP:
// (1) Get new directions from systems (randomly)
// e.g.: for i=1:3,[SYSTEMS(i,4)] =moveRand(),end
// (2) Compute resulting new Positions
// e.g.: for i=1:3, [SYSTEMS(i,6), SYSTEMS(i,5)]=newMove(SYSTEMS(i,3),SYSTEMS(i,2),SYSTEMS(i,4)), end
// (3) Evaluate possible effects
// (4) Realize movements
// (6) Go to (1)
function [GRID1]=envFunction(GRID,SYSTEMS,RUN, FOODEVAL,ENERGYSTART)
//Initialization
[GRID1]=embedSysGrid(GRID,SYSTEMS)
disp(GRID1)
[r,c]=size(SYSTEMS)
for i=1:r, SYSTEMS(i,10)=ENERGYSTART
end
//Loop
for k=1:RUN
disp('----------------------------------------------------')
disp('CYCLE = ')
disp(k)
disp('----------------------------------------------------')
//Insert new move commands randomly
for i=1:r,[SYSTEMS(i,4)] =moveRand(),end
//if SHOW>0 then disp(SYSTEMS),end
//Compute new resulting positions
for i=1:r, [SYSTEMS(i,5), SYSTEMS(i,6)]=newMove(SYSTEMS(i,2),SYSTEMS(i,3),SYSTEMS(i,4)), end
//disp(MOVES)
//Inspect content of new positions
for i=1:r, Y=SYSTEMS(i,5), X=SYSTEMS(i,6), [SYSTEMS]=contEncode(Y,X,GRID1, i,SYSTEMS),end
//disp(MOVES)
//Evaluation for Energy and Actions
// Problems:
// More than one system can move on the same Position!
// The food can disappear without replacement
for i=1:r, [SYSTEMS] =moveEval(SYSTEMS, i,FOODEVAL), end
//disp(MOVES)
//Realizing the moves
for i=1:r, [GRID1,SYSTEMS] = moveRealization(i,GRID1,SYSTEMS), end
//disp(SYSTEMS)
//disp('-----------------')
[GRID1]=embedSysGrid(GRID1,SYSTEMS)
//disp('-----------------')
//if SHOW>0 then disp(SYSTEMS),end
//Log Energy
[SYSTEMS]=energyLog(SYSTEMS,ENERGYSTART)
disp(SYSTEMS)
disp(GRID1)
[SYSTEMS]=movesZeroing(SYSTEMS)
end
endfunction
//**********************************************************
// ENVIRONMENT FUNCTION now for search of Food
//
//----------------------------------
// INITIALIZE:
// - GRID with initial space and objects.
// - SYSTEMS with initial positions of systems.
// - Embed SYSTEMS in GRID with embedSysGrid()
//
// LOOP:
// (1) Get new directions from systems (randomly)
// e.g.: for i=1:3,[SYSTEMS(i,4)] =moveRand(),end
// (2) Compute resulting new Positions
// e.g.: for i=1:3, [SYSTEMS(i,6), SYSTEMS(i,5)]=newMove(SYSTEMS(i,3),SYSTEMS(i,2),SYSTEMS(i,4)), end
// (3) Evaluate possible effects
// (4) Realize movements
// (5) When food is found set FOUND=1 and stop while-loop
// (6) Go to (1)
function [GRID1,k]=envFunction(GRID,SYSTEMS, FOODEVAL,ENERGYSTART)
//Initialization
[GRID1]=embedSysGrid(GRID,SYSTEMS)
disp(GRID1)
[r,c]=size(SYSTEMS)
for i=1:r, SYSTEMS(i,10)=ENERGYSTART
end
//Loop
FOUND=0, k=0
while(FOUND<1) //Will become '1' if food has been found
k=k+1
disp('----------------------------------------------------')
disp('CYCLE = ')
disp(k)
disp('----------------------------------------------------')
//Insert new move commands randomly
for i=1:r,[SYSTEMS(i,4)] =moveRand(),end
//disp(SYSTEMS)
//Compute new resulting positions
for i=1:r, [SYSTEMS(i,5), SYSTEMS(i,6)]=newMove(SYSTEMS(i,2),SYSTEMS(i,3),SYSTEMS(i,4)), end
//disp(MOVES)
//Inspect content of new positions
for i=1:r, Y=SYSTEMS(i,5), X=SYSTEMS(i,6), [SYSTEMS]=contEncode(Y,X,GRID1, i,SYSTEMS),
if SYSTEMS(i,7) == 3 then FOUND=1,end,
end
//disp(MOVES)
//Evaluation for Energy and Actions
// Problems:
// More than one system can move on the same Position!
// The food can disappear without replacement
for i=1:r, [SYSTEMS] =moveEval(SYSTEMS, i,FOODEVAL), end
//disp(MOVES)
//Realizing the moves
for i=1:r, [GRID1,SYSTEMS] = moveRealization(i,GRID1,SYSTEMS), end
//disp(SYSTEMS)
//disp('-----------------')
[GRID1]=embedSysGrid(GRID1,SYSTEMS)
//disp('-----------------')
//disp(SYSTEMS)
//Log Energy
[SYSTEMS]=energyLog(SYSTEMS,ENERGYSTART)
disp(SYSTEMS)
disp(GRID1)
[SYSTEMS]=movesZeroing(SYSTEMS)
end
endfunction