fitness_function is now a string, for multithreading support

manduca/Manducas.py

@@ -31,7 +31,7 @@ class Manduca(object):
         self._fitness = None
         self.check_consistancy()
         if fitness_function == None:
-            self._fitness_function = Manduca.distance_traveled
+            self._fitness_function = 'distance_traveled'
         else:
             self._fitness_function = fitness_function
         if body_properties == None:
@@ -115,7 +115,11 @@ class Manduca(object):
     @property
     def fitness(self):
         if (self._fitness is None):
-            self._fitness = self._fitness_function(self)
+            fn = getattr(self, self._fitness_function)
+            if isinstance(fn, types.FunctionType):
+                self._fitness = getattr(self, self._fitness_function)(self)
+            else:
+                self._fitness = getattr(self, self._fitness_function)()
         return (self._fitness)
 
     @property

tests/conftest.py

@@ -2,7 +2,8 @@ from manduca import Manduca, ManducaBodyProperties
 
 all_body_properties = [None, Manduca.default_body_properties, Manduca.damped_body_properties,
                        ManducaBodyProperties(10,4,6,2,10)]
-all_fitness_functions = [Manduca.distance_traveled, lambda m: 1/sum(m.muscles+0.001)]
+#TODO (fn_name, fn_def or None if already a function)]
+all_fitness_functions = ['distance_traveled']
 all_num_time_steps = [2, 3, 5, 10]
 all_num_legs = [2, 3, 4, 5, 10]
 all_time_steps = [0.01, 1.0, 10.0, 1]

tests/test_Manducas.py

@@ -140,8 +140,11 @@ def test_fitness_reset():
     # 3) Make sure it was reset
     # 4) Make sure fitness evaluates to the correct value
     # 5) Make sure _fitness is updated as well
+    def neg_one(man):
+        return -1
+    SimpleManduca.neg_one = neg_one
     man._fitness = 1
-    man.fitness_function = lambda m: -1
+    man.fitness_function = 'neg_one'
     assert man._fitness == None
     assert man.fitness == -1
     assert man._fitness == -1