Creature class completed

CM3020 Artificial Intelligence/Week 8/Files/creature.py

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+import genome
+from xml.dom.minidom import getDOMImplementation
+from enum import Enum
+import numpy as np
+
+
+class MotorType(Enum):
+    PULSE = 1
+    SINE = 2
+
+
+class Motor:
+    def __init__(self, control_waveform, control_amp, control_freq):
+        if control_waveform <= 0.5:
+            self.motor_type = MotorType.PULSE
+        else:
+            self.motor_type = MotorType.SINE
+        self.amp = control_amp
+        self.freq = control_freq
+        self.phase = 0
+
+    def get_output(self):
+        self.phase = (self.phase + self.freq) % (np.pi * 2)
+        if self.motor_type == MotorType.PULSE:
+            if self.phase < np.pi:
+                output = 1
+            else:
+                output = -1
+
+        if self.motor_type == MotorType.SINE:
+            output = np.sin(self.phase)
+
+        return output
+
+
+class Creature:
+    def __init__(self, gene_count):
+        self.spec = genome.Genome.get_gene_spec()
+        self.dna = genome.Genome.get_random_genome(len(self.spec), gene_count)
+        self.flat_links = None
+        self.exp_links = None
+        self.motors = None
+
+    def get_flat_links(self):
+        if self.flat_links == None:
+            gdicts = genome.Genome.get_genome_dicts(self.dna, self.spec)
+            self.flat_links = genome.Genome.genome_to_links(gdicts)
+        return self.flat_links
+
+    def get_expanded_links(self):
+        self.get_flat_links()
+        if self.exp_links is not None:
+            return self.exp_links
+
+        exp_links = [self.flat_links[0]]
+        genome.Genome.expandLinks(self.flat_links[0],
+                                  self.flat_links[0].name,
+                                  self.flat_links,
+                                  exp_links)
+        self.exp_links = exp_links
+        return self.exp_links
+
+    def to_xml(self):
+        self.get_expanded_links()
+        domimpl = getDOMImplementation()
+        adom = domimpl.createDocument(None, "start", None)
+        robot_tag = adom.createElement("robot")
+        for link in self.exp_links:
+            robot_tag.appendChild(link.to_link_element(adom))
+        first = True
+        for link in self.exp_links:
+            if first:  # skip the root node!
+                first = False
+                continue
+            robot_tag.appendChild(link.to_joint_element(adom))
+        robot_tag.setAttribute("name", "pepe")  # choose a name!
+        return '<?xml version="1.0"?>' + robot_tag.toprettyxml()
+
+    def get_motors(self):
+        self.get_expanded_links()
+        if self.motors == None:
+            motors = []
+            for i in range(1, len(self.exp_links)):
+                l = self.exp_links[i]
+                m = Motor(l.control_waveform, l.control_amp,  l.control_freq)
+                motors.append(m)
+            self.motors = motors
+        return self.motors