Initialize with the best seed instead of initial seed at population wipeout (#77)

sea-bass · web-flow · commit 8ceba33d939d · 2024-11-30T13:01:09.000-05:00
diff --git a/src/ik_memetic.cpp b/src/ik_memetic.cpp
@@ -254,8 +254,9 @@ auto ik_memetic_impl(std::vector<double> const& initial_guess,
             return ik.best();
         }
         if (ik.checkWipeout()) {
+            // Ensure the first member of the new population is the best so far.
             if (print_debug) fmt::print("Population wipeout\n");
-            ik.initPopulation(robot, cost_fn, initial_guess);
+            ik.initPopulation(robot, cost_fn, ik.best().genes);
         }
 
         // Check termination condition from other threads finding a solution.

Original file line number	Diff line number	Diff line change
`@@ -254,8 +254,9 @@ auto ik_memetic_impl(std::vector<double> const& initial_guess,`
`254`	`254`	`return ik.best();`
`255`	`255`	`}`
`256`	`256`	`if (ik.checkWipeout()) {`
	`257`	`+ // Ensure the first member of the new population is the best so far.`
`257`	`258`	`if (print_debug) fmt::print("Population wipeout\n");`
`258`		`- ik.initPopulation(robot, cost_fn, initial_guess);`
	`259`	`+ ik.initPopulation(robot, cost_fn, ik.best().genes);`
`259`	`260`	`}`
`260`	`261`
`261`	`262`	`// Check termination condition from other threads finding a solution.`