WIP integrating Learning in evolution

.gitignore

@@ -46,6 +46,8 @@ nosetests.xml
 coverage.xml
 *,cover
 experiments/examples/output/
+experiments/IMC/output/
+experiments/IMC/yaml
 test.py
 
 # Translations
@@ -67,6 +69,9 @@ target/
 # Visual Studio Code
 /.vscode/
 
+# Qt Creator
+CMakeLists.txt.user
+
 # Virtual env
 .venv*/
 .python-version

cpprevolve/CMakeLists.txt

@@ -3,7 +3,8 @@ cmake_minimum_required (VERSION 3.7.0)
 
 # Project name
 project (Revolve)
-set (CMAKE_CXX_STANDARD 11)
+set (CMAKE_CXX_STANDARD 14)
+find_package(Torch REQUIRED)
 
 # Include cmake subdirectories
 add_subdirectory(revolve/brains)

cpprevolve/revolve/brains/CMakeLists.txt

@@ -1,13 +1,20 @@
-file(GLOB_RECURSE
-        CONTROLLER_SRCS
-        controller/*.cpp
-        controller/actuators/*.cpp
-        controller/sensors/*.cpp
-)
-file(GLOB_RECURSE
-        LEARNER_SRCS
-        learner/*.cpp
+set (CMAKE_CXX_STANDARD 14)
+
+set(CONTROLLER_SRCS
+    controller/DifferentialCPG.cpp
+    controller/IMC/IMC.cpp
+    controller/IMC/FeedForwardNetwork.cpp
+    controller/IMC/InverseNetwork.cpp
 )
+set(LEARNER_SRCS
+    learner/Learner.cpp
+    learner/BayesianOptimizer.cpp
+    learner/HyperNEAT.cpp
+    learner/EA.cpp
+    learner/NIPES.cpp
+    learner/DifferentialEvo.cpp
+        learner/EA_misc/RandNum.cpp
+        learner/EA_misc/Novelty.cpp)
 
 # PKG-CONFIG
 find_package(PkgConfig REQUIRED)
@@ -17,8 +24,12 @@ 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_package(libcmaes REQUIRED)
+
+# These dependencies are required for the AngleToTargetDetector Sensor
+find_package(OpenCV REQUIRED)
+#find_package(raspicam REQUIRED) #only on the raspberry side
 
 # Find NLOpt - Non Linear Optimization
 pkg_check_modules(NLOpt REQUIRED nlopt>=2.4)
@@ -32,19 +43,30 @@ add_library(revolve-learners SHARED ${LEARNER_SRCS})
 
 target_include_directories(revolve-controllers
         PUBLIC ${EIGEN3_INCLUDE_DIR}
-        PUBLIC ${Boost_INCLUDE_DIRS})
+        PUBLIC ${Boost_INCLUDE_DIRS}
+        PUBLIC ${OpenCV_INCLUDE_DIRS})
 
 target_include_directories(revolve-learners
+        PUBLIC ${EIGEN3_INCLUDE_DIR}
         PUBLIC ${Boost_INCLUDE_DIRS}
         PUBLIC ${LIMBO_DIR}/src
         PUBLIC ${NLOpt_INCLUDE_DIRS})
 
-target_include_directories(revolve-learners
-        PUBLIC ${NLOpt_LIBRARY_DIRS})
+target_compile_definitions(revolve-learners
+        PUBLIC USE_NLOPT=1
+        PUBLIC CMAES)
 
 target_link_libraries(revolve-controllers
+        PUBLIC MultiNEAT::MultiNEAT
+        ${OpenCV_LIBS}
+        PUBLIC torch
+        PUBLIC libcmaes::cmaes
+        )
+
+target_link_libraries(revolve-learners
+        revolve-controllers
         MultiNEAT::MultiNEAT)
 
 install(TARGETS revolve-controllers revolve-learners
         RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib)
+        LIBRARY DESTINATION lib)