Method TrainAgents

src/RaceNet/TrainingGround.cpp:97–153

}

std::vector<std::vector<int>> TrainingGround::TrainAgents(uint16_t nGenerations, uint32_t nTicks) {
    std::vector<std::vector<int>> agentFitnesses;
    // TODO: Remove this and
    std::vector<int> dummyAgentData = {0, 0};
    agentFitnesses.emplace_back(dummyAgentData);

    for (uint16_t gen_Idx = 0; gen_Idx < nGenerations; ++gen_Idx) {
        LOG(INFO) << "Beginning Generation " << gen_Idx;

        // Simulate the population
        for (uint32_t tick_Idx = 0; tick_Idx < nTicks; ++tick_Idx) {
            for (auto &car_agent : car_agents) {
                car_agent->simulate();
            }
            physicsEngine.stepSimulation(stepTime);
            raceNetRenderer.Render(tick_Idx, car_agents, training_track);
            if (glfwWindowShouldClose(window)) return agentFitnesses;
        }

        // Clear fitness data for next generation
        agentFitnesses.clear();

        // Evaluate the fitnesses and sort them
        for (auto &car_agent : car_agents) {
            LOG(INFO) << "Agent " << car_agent->populationID << " made it to trkblock " << EvaluateFitness(car_agent);
            std::vector<int> agentData = {car_agent->populationID, (int) EvaluateFitness(car_agent)};
            agentFitnesses.emplace_back(agentData);
        }

        std::sort(agentFitnesses.begin(), agentFitnesses.end(),
                  [](const std::vector<int> &a, const std::vector<int> &b) {
                      return a[1] > b[1];
                  });


        LOG(DEBUG) << "Agent " << agentFitnesses[0][0] << " was fittest";

        // Mutate the fittest network
        // Mutate(car_agents[agentFitnesses[0][0]]->carNet);

        // Perform selection
        SelectAgents(car_agents, agentFitnesses);

        // Mutate all networks
        for (auto &car_agent : car_agents) {
            Mutate(car_agent->carNet);
        }


        // Reset the cars for the next generation
        for (auto &car_agent : car_agents) {
            Renderer::ResetToVroad(1, training_track, car_agent);
        }
    }

    return agentFitnesses;
}