morphevo.genome.Genome Class Reference

A class that represents a Genome, it contains an encoding, methods for evaluation, methods to mutate and methods to compare to other genomes. More...

Public Member Functions
None	__init__ (self, Optional[Genome] parent_genome=None)
	Create a Genome, if no parent is given a random encoding will be generated. More...
None	mutate (self)
	Mutate the encoding of the genome.
str	get_urdf (self)
	Get the urdf string for an encoding. More...
float	calculate_diversity_from (self, Genome other_genome)
	Calculate the diversity to another genome. More...
Genome	crossover (self, Genome other_genome)
	Do a crossover with another genome. More...
int	get_amount_of_joints (self)
	Count the amount of joints a genotype represents. More...
int	__hash__ (self)

Public Attributes
	amount_of_modules
	genotype_graph
	workspace
	genome_id

Detailed Description

A class that represents a Genome, it contains an encoding, methods for evaluation, methods to mutate and methods to compare to other genomes.

Constructor & Destructor Documentation

__init__()

None morphevo.genome.Genome.__init__	(		self,
		Optional[Genome]	parent_genome = None
	)

Create a Genome, if no parent is given a random encoding will be generated.

Otherwise, it will use the mutated encoding of its parent as encoding.

Parameters

parent_genome

The optional parent.

Member Function Documentation

calculate_diversity_from()

float morphevo.genome.Genome.calculate_diversity_from	(		self,
		Genome	other_genome
	)

Calculate the diversity to another genome.

This function compares modules on the same level of the arm. If a module is a different type the difference for that level is 1 on the amount of modules in the longest arm (same for missing modules). Else you calculate the percentage of length difference between the modules.

Parameters

other_genome

The genome you want to compare with.

Returns

A percentage on how different the genomes are.

crossover()

Genome morphevo.genome.Genome.crossover	(		self,
		Genome	other_genome
	)

Do a crossover with another genome.

For every module you will run a chance to determine of which parent you will include its module. If one parent is shorter the top modules of the other parent can still be included at the end of the arm.

Parameters

other_genome

The other genome to crossover with.

Returns

A new genome with an encoding that is the result of crossover on its parents.

get_amount_of_joints()

int morphevo.genome.Genome.get_amount_of_joints

(

self

)

Count the amount of joints a genotype represents.

Returns

amount of joints.

get_urdf()

str morphevo.genome.Genome.get_urdf

(

self

)

Get the urdf string for an encoding.

Returns

The urdf string for an encoding.

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The documentation for this class was generated from the following file:

• src/morphevo/genome.py