Multiprocessing and derecations removed.

Multiprocessing is now a thing! Performances improved by at least 30%
The function, methods marked as deprecated are now removed.
PyGAD is no longer compatible, tqdm is requiered.

CHANGELOG.md

@@ -1,65 +1,93 @@
 # Changelog
-All notable changes to this project will be documented in this file.
+All notable changes to the LeggedSnake will be documented in this file.
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
 ## [Unreleased]
+### Added
+ - Multiprocessing is here! The genetic optimization can now be run in parallel!
+   Performances are easily improved by 30 % using 4 processes.
+
 ### Changed
  - The sidebar in the documentation a bit more useful.
+ - Not having tqdm will cause an exception.
+
+### Removed
+ - native support for PyGAD is no longer present.
+ - ``evolutionnary_optimization`` (replaced by ``evolutionary_optimization``)
 
 ## [0.2.0-alpha] - 2021-07-14
 ### Added
  - Dependency to [tqdm](https://tqdm.github.io/) and matplotlib.
  - The ``evolutionary_optimization`` replaces ``evolutionnary_optimization``.
    - The ``ite`` parameter renamed ``iters`` for consistency with pylinkage.
-   - The new parameter ``verbose`` let you display a nice progress bar, more information on optimization state, or nothing.
+   - The new parameter ``verbose`` let you display a nice progress bar, more 
+     information on optimization state, or nothing.
  - The best solution can be displayed with PyGAD as well.
 
 ### Changed
  - Typos and cleans-up in ``docs/examples/strider.py``.
- - ``evolutionnary_optimization_legacy`` renamed to ``evolutionary_optimization_builtin``.
+ - ``evolutionnary_optimization_legacy`` renamed to 
+   ``evolutionary_optimization_builtin``.
 
 ### Deprecated
- - ``evolutionnary_optimization`` is now deprecated. Please use ``evolutionary_optimization``.
+ - ``evolutionnary_optimization`` is now deprecated. Please use 
+   ``evolutionary_optimization``.
 
 ### Removed
- - Explicit dependency to PyGAD. There is no longer an annoying message when PyGAD is not installed.
+ - Explicit dependency to PyGAD. There is no longer an annoying message when 
+   PyGAD is not installed.
 
 ## [0.1.4-alpha] - 2021-07-12
 ### Added
- - It is now possible and advised to import class and functions using quick paths, for instance ``from leggedsnake import Walker`` instead of ``from leggedsnake.walker import Walker``.
- - You do no longer have to manually import [pylinkage](https://hugofara.github.io/pylinkage/), we silently import the useful stuff for you.
- - We now use [bump2version](https://pypi.org/project/bump2version/) for version maintenance.
- - This is fixed by the ``road_y`` parameter in ``World`` let you define a custom height for the base ground.
+ - It is now possible and advised to import class and functions using quick 
+   paths, for instance ``from leggedsnake import Walker`` instead of 
+   ``from leggedsnake.walker import Walker``.
+ - You do no longer have to manually import 
+   [pylinkage](https://hugofara.github.io/pylinkage/), we silently import the 
+   useful stuff for you.
+ - We now use [bump2version](https://pypi.org/project/bump2version/) for version
+   maintenance.
+ - This is fixed by the ``road_y`` parameter in ``World`` let you define a 
+   custom height for the base ground.
 
 ### Changed
- - ``docs/examples/strider.py`` has been updated to the latest version of leggedsnake 0.1.4.
+ - ``docs/examples/strider.py`` has been updated to the latest version of 
+   leggedsnake 0.1.4.
 
 ### Fixed
- - The full swarm representation in polar graph has been repaired in ``docs/examples/strider.py``.
- - During a dynamic simulation, linkages with long legs could appear through the road.
- - The documentation was not properly rendered because Napoleon (NumPy coding style) was not integrated.
+ - The full swarm representation in polar graph has been repaired in 
+   ``docs/examples/strider.py``.
+ - During a dynamic simulation, linkages with long legs could appear through the
+   road.
+ - The documentation was not properly rendered because Napoleon (NumPy coding 
+   style) was not integrated.
 
 ## [0.1.3-alpha] - 2021-07-10
 This package was lacking real documentation, it is fixed in this version.
 ### Added
  - Sphinx documentation!
- - Website hosted on GitHub pages, check [hugofara.github.io/leggedsnake](https://hugofara.github.io/leggedsnake/)!
+ - Website hosted on GitHub pages, check 
+   [hugofara.github.io/leggedsnake](https://hugofara.github.io/leggedsnake/)!
  - Expanded README with the quick links section.
 
 ### Changed
  - Tests moved from ``leggedsnake/tests`` to ``tests/``.
  - Examples moved from ``leggedsnake/examples/`` to ``docs/examples/``.
- - I was testing my code on ``leggedsnake/examples/strider.py``  (old path) and that's why it was a big mess. I cleaned up that all. Sorry for the inconvenience!
+ - I was testing my code on ``leggedsnake/examples/strider.py``  (old path) and
+   that's why it was a big mess. I cleaned up that all. Sorry for the 
+   inconvenience!
 
 ### Fixed
  - A lot of outdated code in the ``leggedsnake/examples/strider.py``
  - Changelog URL was broken in ``setup.cfg``.
 
 ## [0.1.2-alpha] - 2021-07-07
 ### Changed
- - The ``step`` function execution speed has been increased by 25% when ``return_res`` is ``True``! Small performance improvement when ``return_res`` is ``False``.
+ - The ``step`` function execution speed has been increased by 25% when 
+   ``return_res`` is ``True``! Small performance improvement when ``return_res``
+   is ``False``.
  - The ``size`` argument of ``step`` function is now known as ``witdh``.
  - We now require pylinkage>=0.4.0.
 
@@ -75,8 +103,10 @@ This package was lacking real documentation, it is fixed in this version.
 
 ## [0.1.1-alpha] - 2021-06-26
 ### Added
- - The example file ``examples/strider.py`` is now shipped with the Python package.
- - ``leggedsnake/geneticoptimizer.py`` can now automatically switch to the built-in GA algorithm if PyGAD is not installed.
+ - The example file ``examples/strider.py`` is now shipped with the Python 
+   package.
+ - ``leggedsnake/geneticoptimizer.py`` can now automatically switch to the 
+   built-in GA algorithm if PyGAD is not installed.
 
 ### Changed
  - ``setup.cfg`` metadata
@@ -87,11 +117,13 @@ This package was lacking real documentation, it is fixed in this version.
  - Example videos in ``examples/images/``
 
 ### Changed
- - Manny reforms in code style, to make the dynamic part naming conventions consistent with Pymunk. 
+ - Manny reforms in code style, to make the dynamic part naming conventions 
+   consistent with Pymunk. 
  - Images in the ``README.md``!
 
 ### Fixed
- - You can now define linkages with an enormous number of legs. Systems with many should no longer break physics but your CPU instead :)
+ - You can now define linkages with an enormous number of legs. Systems with
+   many should no longer break physics but your CPU instead :)
 
 ## [0.0.3-alpha] - 2021-06-23
 ### Added
@@ -109,30 +141,35 @@ This package was lacking real documentation, it is fixed in this version.
 
 ### Changed
  - ``.gitignore`` now ignores .txt files only in the leggedsnake folder.
- - ``environment.yml`` more flexible (versions can be superior to the selected). pymunk>5.0.0 and pylinkage added.
- - ``leggedsnake/utility.py`` not having zipfile or xml modules error encapsulation.
+ - ``environment.yml`` more flexible (versions can be superior to the selected). 
+   pymunk>5.0.0 and pylinkage added.
+ - ``leggedsnake/utility.py`` not having zipfile or xml modules error 
+   encapsulation.
 
 ### Fixed
- - ``setup.cfg`` was not PyPi compatible. Removed mail (use GitHub!), we now explicitly say that ``README.md`` is markdown (PyPi is conservative)
+ - ``setup.cfg`` was not PyPi compatible. Removed mail (use GitHub!), we now 
+   explicitly say that ``README.md`` is markdown (PyPi is conservative)
 
 ## [0.0.1-alpha] - 2021-06-22
-Basic version, supporting Genetic Algorithm optimization, but with various problems.
+Basic version, supporting Genetic Algorithm optimization, but with various 
+problems.
 ### Added
- - ``CODE_OF_CONDUCT.md`` to help community
- - ``LICENSE`` MIT License
- - ``MANIFEST.in`` to include more files
- - ``README.md`` as a very minimal version
- - ``environment.yml`` with matplotlib, numpy, and pygad requirement
- - ``examples/strider.py`` a complete demo with Strider linkage
- - ``leggedsnake/__init__.py``
- - ``leggedsnake/dynamiclinkage.py``
- - ``leggedsnake/geneticoptimizer.py``
- - ``leggedsnake/physicsengine.py``
- - ``leggedsnake/show_evolution.py`` just a legacy package, no utility
+ - ``CODE_OF_CONDUCT.md`` to help community.
+ - ``LICENSE`` MIT License.
+ - ``MANIFEST.in`` to include more files.
+ - ``README.md`` as a very minimal version.
+ - ``environment.yml`` with matplotlib, numpy, and pygad requirement.
+ - ``examples/strider.py`` a complete demo with Strider linkage.
+ - ``leggedsnake/__init__.py``.
+ - ``leggedsnake/dynamiclinkage.py``.
+ - ``leggedsnake/geneticoptimizer.py``.
+ - ``leggedsnake/physicsengine.py``.
+ - ``leggedsnake/show_evolution.py`` just a legacy package, no utility.
  - ``leggedsnake/tests/test_utility.py`` untested test case
- - ``leggedsnake/utility.py`` contain some useful evaluation function (``step`` and ``stride``) and a broken GeoGebra interface.
+ - ``leggedsnake/utility.py`` contain some useful evaluation function (``step``
+   and ``stride``) and a broken GeoGebra interface.
  - ``walker.py`` defines the ``Walker`` object.
- - ``pyproject.toml`` 
- - ``setup.cfg``
- - ``setup.py`` empty, for compatibility purposes only
+ - ``pyproject.toml``. 
+ - ``setup.cfg``.
+ - ``setup.py`` empty, for compatibility purposes only.
  - ``tox.ini`` tox with Python 3.7 and 3.8

docs/examples/strider.py

@@ -538,22 +538,23 @@ def evolutive_optimizer(linkage, dims=param, prev=None, pop=10, iters=10,
     linkage.rebuild(prev)
     linkage.step()
     dna = 0, list(dims), list(linkage.get_coords())
-    o = ls.evolutionary_optimization(
+    out = ls.evolutionary_optimization(
         dna=dna, prob=.07,
         fitness=fitness,
         iters=iters,
         max_pop=pop,
         init_pop=init_pop,
         startnstop=startnstop,
-        fitness_args=[linkage]
+        fitness_args=(linkage,),
+        processes=1
     )
     if save:
         file = open('Evolutive optimizer.txt', 'w')
         # We only keep 10 best results
-        for i in range(min(10, len(o))):
-            file.write('{}\n{}\n{}\n----\n'.format(o[i][0], o[i][1], o[i][2]))
+        for i in range(min(10, len(out))):
+            file.write('{}\n{}\n{}\n----\n'.format(out[i][0], out[i][1], out[i][2]))
         file.close()
-    return o
+    return out
 
 
 def show_optimized(linkage, data, n_show=10, duration=5, symmetric=True):
@@ -605,7 +606,7 @@ def show_optimized(linkage, data, n_show=10, duration=5, symmetric=True):
     save=False, startnstop=False
 )
 print(
-    "Fitness after evolutive optimization: {}".format(
+    "Fitness after genetic optimization: {}".format(
         optimized_striders[0][0]
     )
 )

leggedsnake/__init__.py

@@ -24,10 +24,7 @@
 
 from .utility import step, stride
 from .walker import Walker
-from .geneticoptimizer import (
-    evolutionnary_optimization,
-    evolutionary_optimization,
-)
+from .geneticoptimizer import evolutionary_optimization
 from .dynamiclinkage import (
     Nail, PinUp, DynamicPivot, Motor,
     DynamicLinkage,