NeuroEvoPopulation.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef NEUROEVOPOPULATION_H_
#define NEUROEVOPOPULATION_H_

#include "NeuroEvoMember.h"
#include <vector>
#include <tr1/random>

class NeuroEvoPopulation {
public:
                NeuroEvoPopulation(int numControllers, configuration& config);
                ~NeuroEvoPopulation();
                std::vector<NeuroEvoMember *> controllers;
    void mutate(std::tr1::ranlux64_base_01 *eng,std::size_t numToMutate);
                void combineAndMutate(std::tr1::ranlux64_base_01 *eng, std::size_t numToMutate, std::size_t numToCombine);
                void orderPopulation();
                NeuroEvoMember * getMember(int i){return controllers[i];};

private:
    std::vector<double> generateMatingProbabilities();
    int getIndexFromProbability(std::vector<double>& probs, double val);
                static bool comparisonFuncForAverage(NeuroEvoMember * elm1, NeuroEvoMember * elm2);
                static bool comparisonFuncForMax(NeuroEvoMember * elm1, NeuroEvoMember * elm2);
                bool compareAverageScores;
                bool clearScoresBetweenGenerations;
                int populationSize;
    configuration m_config;
};



#endif /* NEUROEVOPOPULATION_H_ */