statTransferts.hpp

//| This file is a part of the ERC ResiBots project.
//| Copyright 2015, ISIR / Universite Pierre et Marie Curie (UPMC)
//| Main contributor(s): Jean-Baptiste Mouret, mouret@isir.fr
//|                      Antoine Cully, cully@isir.upmc.fr
//|
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//| following URL "http://www.cecill.info".
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#ifndef STAT_TRANSFERTS_HPP_
#define STAT_TRANSFERTS_HPP_

namespace limbo {
    namespace stat {

        template <typename Params>
        struct StatTransferts : public Stat<Params> {
            std::ofstream _ofs;
            StatTransferts()
            {
            }

            template <typename BO>
            void operator()(const BO& bo)
            {
                this->_create_log_file(bo, "transferts.dat");
                if (!bo.dump_enabled())
                    return;

                (*this->_log_file) << bo.iteration() << " : ";
                std::vector<float> sample;
                for (int i = 0; i < bo.samples()[0].size(); i++) {
                    (*this->_log_file) << bo.samples()[bo.samples().size() - 1][i] << " ";
                    sample.push_back(bo.samples()[bo.samples().size() - 1][i]);
                }

                (*this->_log_file) << " : " << Params::archiveparams::archive[sample].fit << " : ";

                (*this->_log_file) << bo.observations()[bo.observations().size() - 1] << std::endl;

                for (size_t i = 0; i < Params::archiveparams::archive[sample].controller.size(); i++)
                    (*this->_log_file) << Params::archiveparams::archive[sample].controller[i] << " ";
                (*this->_log_file) << std::endl;
                (*this->_log_file) << std::endl;
            }
        };
    }
}
#endif