Squash of complete experiment/heritability branch into one superheavy black whole megacommit

Author: Aart Stuurman

.circleci/config.yml

@@ -9,7 +9,7 @@ jobs:
       - run: git submodule update --init
 
       - setup_remote_docker:
-          docker_layer_caching: true
+#          docker_layer_caching: true
 
       - restore_cache:
           keys:
@@ -45,7 +45,7 @@ jobs:
 
     steps:
       - setup_remote_docker:
-          docker_layer_caching: true
+#          docker_layer_caching: true
 
       - restore_cache:
           keys:
@@ -69,7 +69,7 @@ jobs:
 
     steps:
       - setup_remote_docker:
-          docker_layer_caching: true
+#          docker_layer_caching: true
 
       - restore_cache:
           keys:

.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

check_running_experiments.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+for i in exp*log; do echo -n "$i "; value=$(grep "Exported snapshot" $i|tail -n1|sed -E "s/\[(.*),.*Exported snapshot ([0-9]+).*/\2 -> \1/g"); echo $value; done

cpprevolve/revolve/brains/CMakeLists.txt

@@ -18,6 +18,8 @@ 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)
+
 # Find NLOpt - Non Linear Optimization
 pkg_check_modules(NLOpt REQUIRED nlopt>=2.4)
 
@@ -40,6 +42,9 @@ target_include_directories(revolve-learners
 target_include_directories(revolve-learners
         PUBLIC ${NLOpt_LIBRARY_DIRS})
 
+target_link_libraries(revolve-controllers
+        MultiNEAT::MultiNEAT)
+
 install(TARGETS revolve-controllers revolve-learners
         RUNTIME DESTINATION bin
         LIBRARY DESTINATION lib)

cpprevolve/revolve/brains/controller/Controller.h

@@ -23,8 +23,8 @@ class Controller
     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;