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genetic.c
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genetic.c
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/*
Compile with:
gcc genetic.c -o genetic -O2 -lm -std=c99
-O2 Optimization
-lm Link to math lib
-std=c99 Use of for(;;;) with declaration among other things
Usage (3D viewer):
./genetic > data && ./geneticViewer data
Usage (debug):
./genetic
Jan Mas Rovira
Andrés Mingorance López
Albert Puente Encinas
*/
#include <stdio.h> // e.g. printf
#include <stdlib.h> // e.g. malloc, RAND_MAX, exit
#include <math.h> // e.g. sin, abs
#include <sys/time.h>
#define DUMP false
// Genetic algorithm parameters
#define N 1024*16
#define N_POINTS 256*4
#define ITERATION_LIMIT 2
#define GOAL_SCORE -1.0
#define POINT_SET_MUTATION_PROB 0.5
#define POINT_MUTATION_PROB 0.25
#define N_SURVIVORS N/4
#define POINT_RADIUS 0.2
#define OBSTACLE_RADIUS 2.0
#define MAX_DELTA 2
#define MAX_TRIES 1e4 // max amount of times we tries to find a position for a point
// Obstacles
#define CHECK_OBSTACLES true
#define CHECK_COLLISIONS true
// Deterministic algorithm (testing purposes)
#define SEED 27
# define RAND01 ((float)rand()/(float)(RAND_MAX))
// c++ style
typedef int bool;
#define true 1
#define false 0
// Timers
unsigned long long mutationTime;
unsigned long long reproductionTime;
unsigned long long sortingTime;
unsigned long long evaluationTime;
unsigned long long initialGenTime;
unsigned long long totalTime;
inline void tic(unsigned long long* time) {
struct timeval t;
gettimeofday(&t, NULL);
*time = t.tv_sec*1000000 + t.tv_usec - *time;
}
#define toc tic
typedef struct {
float x, y, z; // Position
} Point;
typedef struct {
Point points[N_POINTS];
float score;
} PointSet;
typedef struct {
PointSet pointSets[N];
float maxScore;
} Population;
typedef struct {
Point centre;
float radius;
} Obstacle;
#define N_OBSTACLES 27
Obstacle obstacles[N_OBSTACLES];
inline bool randomChoice(float probability) {
if ((float)rand()/(float)(RAND_MAX) <= probability) return true;
else return false;
}
inline float dist(Point* a, Point* b) {
return sqrt(pow(a->x - b->x, 2)+pow(a->y - b->y, 2)+pow(a->z - b->z, 2));
}
Point destination;
// checks whether the point p collides with any of the points in between
// PS[from] and PS[to], 'to' not included.
bool collides(Point* p, PointSet* PS, int from, int to) {
if (CHECK_COLLISIONS)
for (int i = from; i < to; ++i) {
if (dist(p, &PS->points[i]) < POINT_RADIUS*2) {
return true;
}
}
if (CHECK_OBSTACLES)
for (int i = 0; i < N_OBSTACLES; ++i) {
Obstacle o = obstacles[i];
if (dist(p, &o.centre) < POINT_RADIUS + o.radius) {
return true;
}
}
return false;
}
// compute collisions only up to QS[ixp], since the rest
// haven't mutated yet
// also compute collisions from PS[ixp+1] onwards to avoid inconsistencies
// like a point being trapped by the ones that have moved before
/*
bool collides(PointSet* PS, PointSet* QS, int ixq, int ixp) {
for (int i = 0; i < ixq; ++i) {
if (dist(&PS->points[ixp], &QS->points[i]) < COLLISION_DISTANCE) {
return true;
}
}
for (int i = ixq + 1; i < ixp; ++i) {
if (dist(&PS->points[ixp], &PS->points[i]) < COLLISION_DISTANCE) {
return true;
}
}
return false;
}
*/
void generateInitialPopulation(Population* P) {
tic(&initialGenTime);
float range = POINT_RADIUS * pow((float)N_POINTS, 1.0/3.0) * 10;
for (int i = 0; i < N; ++i) {
for (int j = 0; j < N_POINTS; ++j) {
PointSet* PS = &(P->pointSets[i]);
Point* p = &(PS->points[j]); // p is passed to 'collides' via PS
p->x = (float)rand()/(float)(RAND_MAX/range) + 12.5; //kappa
p->y = (float)rand()/(float)(RAND_MAX/range) + 12.5;
p->z = (float)rand()/(float)(RAND_MAX/range) + 12.5;
int try = 0;
while (try < MAX_TRIES && collides(p, PS, 0, j)) {
p->x = (float)rand()/(float)(RAND_MAX/range) + 12.5;
p->y = (float)rand()/(float)(RAND_MAX/range) + 12.5;
p->z = (float)rand()/(float)(RAND_MAX/5.0) + 12.5;
++try;
}
if (try == MAX_TRIES) {
printf("Error during the generation of the initial population\n");
exit(1);
}
//P->pointSets[i].points[j] = p;
}
}
toc(&initialGenTime);
}
inline float heur_1(Point* P) {
return fabs(P->y - 3.0*sin(P->x/2.0)) + fabs(P->z - 3.0*cos(P->x/2.0));
}
inline float heur_2(Point* P) {
return dist(P, &destination);
}
void evaluate(Population* P) {
tic(&evaluationTime);
for (int i = 0; i < N; ++i) {
PointSet* C = &P->pointSets[i];
C->score = 0;
for (int j = 0; j < N_POINTS; j++) {
Point* E = &C->points[j];
C->score += heur_2(E);
}
}
toc(&evaluationTime);
}
int cmpScores(const void* a, const void* b) {
PointSet* c1 = (PointSet*) a;
PointSet* c2 = (PointSet*) b;
if (c1->score < c2->score) return -1;
else return (c1->score > c2->score);
}
void sort(Population* P) {
tic(&sortingTime);
qsort(P->pointSets, N, sizeof(PointSet), cmpScores);
P->maxScore = P->pointSets[0].score;
toc(&sortingTime);
}
void mix(PointSet* AP, PointSet* AQ) {
for (int i = 0; i < N_POINTS; ++i) {
if (!randomChoice(POINT_MUTATION_PROB)) {
AQ->points[i] = AP->points[i];
continue;
}
int try = 0;
Point p;
while (try < MAX_TRIES) {
// Choose a reference point
int j = rand()%N_POINTS;
// Calculate the direction from AP[i] to AP[j]
float dx = AP->points[j].x - AP->points[i].x;
float dy = AP->points[j].y - AP->points[i].y;
float dz = AP->points[j].z - AP->points[i].z;
// "Normalization" ||direction|| = 0.5
float norm = sqrt(pow(dx,2)+pow(dy,2)+pow(dz,2));
norm *= (1.0/MAX_DELTA);
norm /= RAND01; // move a random portion of MAX_DELTA
if (norm < 1e-4 && norm > -1e-4) {
dx = 0;
dy = 0;
dz = 0;
}
else {
dx /= norm;
dy /= norm;
dz /= norm;
}
// 50% of getting closer, 50% of getting further away from the ref point
if (randomChoice(0.5)) {
p.x = AP->points[i].x + dx;
p.y = AP->points[i].y + dy;
p.z = AP->points[i].z + dz;
}
else {
p.x = AP->points[i].x - dx;
p.y = AP->points[i].y - dy;
p.z = AP->points[i].z - dz;
}
// if the point doesn't collide with a point that has already moved
if (!collides(&p, AQ, 0, i) &&
// and it doesn't collide with a point that has yet to be moved
// (this 2nd check prevents inconsistencies like a point being unable to move at all)
!collides(&p, AP, i + 1, N_POINTS))
break;
++try;
}
if (try == MAX_TRIES) {
//printf("Error during the mix() of points\n");
//exit(1);
p = AP->points[i];
}
AQ->points[i] = p;
}
}
void randomMove(PointSet* AP, PointSet* AQ) {
for (int i = 0; i < N_POINTS; ++i) {
if (!randomChoice(POINT_MUTATION_PROB)) {
AQ->points[i] = AP->points[i];
continue;
}
int try = 0;
Point p;
while (try < MAX_TRIES) {
p.x = AP->points[i].x + (RAND01-0.5)*2*MAX_DELTA;
p.y = AP->points[i].y + (RAND01-0.5)*2*MAX_DELTA;
p.z = AP->points[i].z + (RAND01-0.5)*2*MAX_DELTA;
// if the point doesn't collide with a point that has already moved
if (!collides(&p, AQ, 0, i) &&
// and it doesn't collide with a point that has yet to be moved
// (this 2nd check prevents inconsistencies like a point being unable to move at all)
!collides(&p, AP, i + 1, N_POINTS))
break;
++try;
}
if (try == MAX_TRIES) {
//printf("Error during the mix() of points\n");
//exit(1);
p = AP->points[i];
}
AQ->points[i] = p;
}
}
// Q = mutation of the X% best portion of P
// llegeix de P, escriu a Q
void mutate(Population* P, Population* Q) {
tic(&mutationTime);
for (int i = 0; i < N; ++i) {
PointSet* AP = &P->pointSets[i]; // original points
PointSet* AQ = &Q->pointSets[i]; // mutated points
if (randomChoice(POINT_SET_MUTATION_PROB)) { // Mutate
int type = rand()%2;
if (type == 0) { // Mix of two
mix(AP, AQ);
}
else if (type == 1) {
randomMove(AP, AQ);;
}
}
else { // Copy
*AQ = *AP;
}
}
toc(&mutationTime);
}
void dump(PointSet* C) {
for (int i = 0; i < N_POINTS; ++i) {
printf("%f %f %f\n", C->points[i].x, C->points[i].y, C->points[i].z);
}
}
void pork(PointSet* p1, PointSet* p2, PointSet* child) {
for (int i = 0; i < N_POINTS; ++i) {
Point* p = &child->points[i];
if (randomChoice(0.5)) {
*p = p1->points[i];
}
else {
*p = p2->points[i];
}
}
}
void reproduce(Population* P, Population* Q) {
tic(&reproductionTime);
int i;
for (i = 0; i < N_SURVIVORS; ++i) {
Q->pointSets[i] = P->pointSets[i];
}
for (; i < N; ++i) {
PointSet* p1 = &P->pointSets[rand()%N_SURVIVORS];
PointSet* p2 = &P->pointSets[rand()%N_SURVIVORS];
PointSet* child = &Q->pointSets[i];
pork(p1, p2, child);
}
toc(&reproductionTime);
}
void progressAnim(int it) {
int i = 0;
for (; i < (it*40)/ITERATION_LIMIT; ++i) printf("|");
for (; i < 40; ++i) printf("·");
printf(" %i%%\n", it*100/ITERATION_LIMIT);
}
void DUMPInitialParams() {
printf("%i\n", N_OBSTACLES);
for (int i = 0; i < N_OBSTACLES; ++i) {
Obstacle o = obstacles[i];
printf("%f %f %f %f\n", o.centre.x, o.centre.y, o.centre.z, o.radius);
}
printf("%i %i\n", N_POINTS, ITERATION_LIMIT);
}
void initTimes() {
initialGenTime = mutationTime = evaluationTime = sortingTime = reproductionTime = 0;
}
void printTimes() {
printf("Sequential genetic algorithm has finished:\n");
printf(" Init gen: %f s.\n", (double)initialGenTime/1000000);
printf(" Mutations: %f s.\n", (double)mutationTime/1000000);
printf(" Evaluations: %f s.\n", (double)evaluationTime/1000000);
printf(" Sorting: %f s.\n", (double)sortingTime/1000000);
printf(" Reproduction: %f s.\n", (double)reproductionTime/1000000);
printf(" Total time: %f s.\n", (double)totalTime/1000000);
}
void sequentialGenetic() {
tic(&totalTime);
srand(SEED);
destination.x = destination.y = destination.z = 0.0;
Population* P = malloc(sizeof(Population));
Population* Q = malloc(sizeof(Population));
if (P == NULL || Q == NULL) {
printf("ERROR: Failed to allocate %i KB.\n", 2*sizeof(Population)/1024);
exit(EXIT_FAILURE);
}
if (DUMP) DUMPInitialParams();
else initTimes();
generateInitialPopulation(P);
int it = 0;
while (true) {
mutate(P, Q);
evaluate(Q);
sort(Q);
if (DUMP) dump(&Q->pointSets[0]);
else {
printf("\nIt: %i/%i Score: %f -> %f\n",
it, ITERATION_LIMIT, Q->maxScore, GOAL_SCORE);
progressAnim(it);
}
if (it >= ITERATION_LIMIT || Q->maxScore <= GOAL_SCORE)
break;
// reproduce replaces the worst candidates with combinations
// of better ones. from Q to P, so the population ends up in P
// prepared for the next iteration
reproduce(Q, P);
it++;
}
toc(&totalTime);
if (!DUMP) printTimes();
}
void initObstacles() {
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
for (int k = 0; k < 3; ++k) {
Point origin;
origin.x = 3*i;
origin.y = 3*j;
origin.z = 3*k;
obstacles[i*9 + j*3 + k].centre = origin;
obstacles[i*9 + j*3 + k].radius = 1.0;
}
}
}
}
int main(int argc, char** argv) {
initObstacles();
sequentialGenetic();
return 0;
}