First commit

.gitmodules

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+[submodule "sferes2"]
+	path = sferes2
+	url = https://github.com/sferes2/sferes2.git
+[submodule "dart"]
+	path = dart
+	url = https://github.com/dartsim/dart.git
+[submodule "hexapod_common"]
+	path = hexapod_common
+	url = https://github.com/resibots/hexapod_common.git
+[submodule "hexapod_simu"]
+	path = hexapod_simu
+	url = https://github.com/resibots/hexapod_simu.git
+[submodule "algorithms/map_elites"]
+	path = algorithms/map_elites
+	url = https://github.com/sferes2/map_elites.git
+[submodule "algorithms/cvt_map_elites"]
+	path = algorithms/cvt_map_elites
+	url = git@github.com:sferes2/cvt_map_elites.git

README.md

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+# Scaling Up MAP-Elites Using Centroidal Voronoi Tesselations
+
+#### meta-repo for code for the CVT-MAP-Elites experiments
+
+Full reference:
+
+
+## How to use it
+
+#### How to properly clone this repo
+
+```
+git clone --recursive https://github.com/resibots/vassiliades_2016_cvt_map_elites.git
+```
+
+#### Dependencies
+
+- [Boost]: C++ Template Libraries
+- [Eigen]: Linear Algebra C++ Library
+- [realpath]: `sudo apt-get install realpath`
+
+#### How to easily compile everything
+
+**Important:** Make sure you have installed all the dependencies of each repo. Otherwise the build will fail.
+
+From the root of this repo run:
+
+```
+sh compile_all.sh
+```
+
+#### How to run MAP-Elites experiments
+
+##### 6D descriptor (duty factor)
+```
+cd sferes2/build/exp/map_elites_hexapod/
+./hexa_duty
+```
+
+##### 12D descriptor (12D subset of controller parameters)
+```
+cd sferes2/build/exp/map_elites_hexapod/
+./hexa_controller12
+```
+
+##### 24D descriptor (24D subset of controller parameters)
+```
+cd sferes2/build/exp/map_elites_hexapod/
+./hexa_controller24
+```
+
+#### How to run CVT-MAP-Elites experiments
+
+##### 6D descriptor (duty factor)
+```
+cd sferes2/build/exp/cvt_map_elites_hexapod/
+./hexa_duty ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_6.dat
+```
+
+##### 12D descriptor (12D subset of controller parameters)
+```
+cd sferes2/build/exp/cvt_map_elites_hexapod/
+./hexa_controller12 ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_12.dat
+```
+
+##### 24D descriptor (24D subset of controller parameters)
+```
+cd sferes2/build/exp/cvt_map_elites_hexapod/
+./hexa_controller24 ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_24.dat
+```
+
+##### 36D descriptor (controller parameters)
+```
+cd sferes2/build/exp/cvt_map_elites_hexapod/
+./hexa_controller ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_36.dat
+```
+
+#### How to easily clean everything
+
+From the root of this repo run:
+
+```
+sh clear_all.sh
+```
+
+## LICENSE
+
+[CeCILL]
+
+[CeCILL]: http://www.cecill.info/index.en.html
+[Boost]: http://www.boost.org
+[Eigen]: http://eigen.tuxfamily.org/
+[realpath]: http://manpages.ubuntu.com/manpages/jaunty/man1/realpath.1.html

clear_all.sh

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+#!/bin/bash
+
+cd dart/build
+make clean
+cd ..
+rm -fr build/
+
+cd ../sferes2/
+./waf clean
+cd exp/
+rm cvt_map_elites_hexapod
+rm map_elites_hexapod
+cd ..
+rm modules.conf
+cd modules/
+rm cvt_map_elites
+rm map_elites
+cd ..
+git checkout -- .
+git clean -df
+cd ..
+
+cd hexapod_common/hexapod_controller
+./waf clean
+cd ..
+git checkout -- .
+git clean -df
+cd ..
+
+cd hexapod_simu/hexapod_dart
+./waf clean
+cd ..
+git checkout -- .
+git clean -df
+cd ..
+
+cd algorithms/map_elites
+git checkout -- .
+git clean -df
+cd ../..
+
+cd algorithms/cvt_map_elites
+git checkout -- .
+git clean -df
+cd ../..
+
+git checkout -- .
+git clean -df

compile_all.sh

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+#!/bin/bash
+mkdir install
+cd sferes2/exp
+ln -s ../../experiments/map_elites_hexapod
+ln -s ../../experiments/cvt_map_elites_hexapod
+
+cd ../../sferes2/modules
+ln -s ../../algorithms/map_elites
+ln -s ../../algorithms/cvt_map_elites
+
+cd ../../
+
+echo "map_elites" >> sferes2/modules.conf
+echo "cvt_map_elites" >> sferes2/modules.conf
+
+INSTALL="$(realpath ./install)"
+DART_PATH=$INSTALL/dart_path/
+echo "Install directory: ${INSTALL}"
+echo "Dart path: ${DART_PATH}"
+
+# compile dart
+cd dart
+mkdir build
+cd build
+cmake -DCMAKE_INSTALL_PREFIX=$DART_PATH ..
+make -j8
+make install
+
+# compile hexapod_common
+cd ../../hexapod_common/hexapod_controller
+./waf configure --prefix=$INSTALL
+./waf
+./waf install
+
+cd ../hexapod_models
+./waf configure --prefix=$INSTALL
+./waf
+./waf install
+
+# compile hexapod_simu
+cd ../../hexapod_simu/hexapod_dart
+LINKFLAGS="-L$DART_PATH/lib -ldart -ldart-utils -ldart-utils-urdf" ./waf configure --prefix=$INSTALL --dart=$DART_PATH
+./waf
+./waf install
+
+# compile sferes
+cd ../../sferes2/
+./waf configure --cpp11=yes
+./waf
+
+# compile map_elites_hexapod
+LINKFLAGS="-L$DART_PATH/lib -ldart -ldart-utils -ldart-utils-urdf" ./waf configure --cpp11=yes --dart=$DART_PATH --exp map_elites_hexapod
+./waf --exp map_elites_hexapod
+
+# compile cvt_map_elites_hexapod
+LINKFLAGS="-L$DART_PATH/lib -ldart -ldart-utils -ldart-utils-urdf" ./waf configure --cpp11=yes --dart=$DART_PATH --exp cvt_map_elites_hexapod
+./waf --exp cvt_map_elites_hexapod
+
+cd ..