1 files changed, 41 insertions, 36 deletions

diff --git a/src/brain/neural_network.cpp b/src/brain/neural_network.cpp
index f3753f7..64d6979 100644
--- a/src/brain/neural_network.cpp
+++ b/src/brain/neural_network.cpp
@@ -2,39 +2,46 @@
 #include "brain/neuron.h"
 #include <limits>
 
-NeuralNetwork::NeuralNetwork(std::istream &&networkConfigFile, int numberOfSensors, int numberOfOutputs)
+NeuralNetwork::NeuralNetwork(std::istream &&networkConfigFile, unsigned int numberOfSensors, unsigned int numberOfOutputs)
 {
+    _neurons.reserve(400);
+    _sensors.reserve(numberOfSensors);
+    _sensors.reserve(numberOfOutputs);
+    
     _biasNode = std::make_shared<BiasNode>();
     
-    for (int i=0; i<numberOfSensors; ++i)
+    for (unsigned int i=0; i<numberOfSensors; ++i)
     {
-	_sensors[i] = std::make_shared<Sensor>();
+	auto sensor = std::make_shared<Sensor>();
+	_sensors.push_back(sensor);
     }
-    for (int i=0; i<numberOfOutputs; ++i)
+    for (unsigned int i=0; i<numberOfOutputs; ++i)
     {
-	auto output = std::make_shared<Neuron>();
+	auto output = findOrAddNeuron(i);
 	_outputs.push_back(output);
-	_neurons[i] = output;
     }
 
     parseFile(std::move(networkConfigFile));
 }
 
-NeuralNetwork::NeuralNetwork(std::istream &&networkConfigFile, std::vector<bool> sensorInitialValues, int numberOfOutputs)
+NeuralNetwork::NeuralNetwork(std::istream &&networkConfigFile, std::vector<bool> sensorInitialValues, unsigned int numberOfOutputs)
 {
+    _neurons.reserve(400);
+    _sensors.reserve(sensorInitialValues.size());
+    _sensors.reserve(numberOfOutputs);
+    
     _biasNode = std::make_shared<BiasNode>();
     
     for (unsigned int i=0; i<sensorInitialValues.size(); ++i)
     {
 	auto sensor = std::make_shared<Sensor>();
 	sensor->setActivation(sensorInitialValues[i] ? 1 : 0);
-	_sensors[i] = sensor;
+	_sensors.push_back(sensor);
     }
-    for (int i=0; i<numberOfOutputs; ++i)
+    for (unsigned int i=0; i<numberOfOutputs; ++i)
     {
-	auto output = std::make_shared<Neuron>();
+	auto output = findOrAddNeuron(i);
 	_outputs.push_back(output);
-	_neurons[i] = output;
     }
 
     parseFile(std::move(networkConfigFile));
@@ -44,8 +51,8 @@ void NeuralNetwork::parseFile(std::istream &&file)
 {
     double weight;
     char srcType;
-    int srcId;
-    int destId;
+    unsigned int srcId;
+    unsigned int destId;
 
     while (file.get(srcType) &&
 	   file >> srcId &&
@@ -77,59 +84,57 @@ void NeuralNetwork::parseFile(std::istream &&file)
 
 void NeuralNetwork::addLink(std::shared_ptr<NeuralNode> source, std::shared_ptr<Neuron> destination, double weight)
 {
-    std::unique_ptr<NeuralLink> link(new NeuralLink(source, weight));
+    NeuralLink link(source, weight);
     destination->addInput(std::move(link));
 }
 
-std::shared_ptr<Sensor> NeuralNetwork::findOrAddSensor(int id)
+std::shared_ptr<Sensor> NeuralNetwork::findOrAddSensor(unsigned int id)
 {
-    auto sensor = _sensors[id];
-    if (!sensor)
+    while (_sensors.size() <= id)
     {
-	sensor = std::make_shared<Sensor>();
-	_sensors[id] = sensor;
+	auto sensor = std::make_shared<Sensor>();
+	_sensors.push_back(sensor);
     }
-    return sensor;
+
+    return _sensors.at(id);
 }
 
-std::shared_ptr<Neuron> NeuralNetwork::findOrAddNeuron(int id)
+std::shared_ptr<Neuron> NeuralNetwork::findOrAddNeuron(unsigned int id)
 {
-    auto neuron = _neurons[id];
-    if (!neuron)
+    while (_neurons.size() <= id)
     {
-	neuron = std::make_shared<Neuron>();
-	_neurons[id] = neuron;
+	auto neuron = std::make_shared<Neuron>();
+	_neurons.push_back(neuron);
     }
-    return neuron;
+
+    return _neurons.at(id);
 }
 
-void NeuralNetwork::setInput(int inputIndex, double activation)
+void NeuralNetwork::setInput(unsigned int inputIndex, double activation)
 {
     _sensors.at(inputIndex)->setActivation(activation);
 }
 
-int NeuralNetwork::findMaxOutputIndex() const
+unsigned int NeuralNetwork::findMaxOutputIndex() const
 {
     bool anyNodeChanged = true;
-    for (unsigned int iteration=0; anyNodeChanged && iteration<_neurons.size()*10; ++iteration)
+    auto maxIterations = _neurons.size()*10;
+    for (unsigned int iteration=0; anyNodeChanged && iteration<maxIterations; ++iteration)
     {
 	anyNodeChanged = false;
 	for (auto const& neuron : _neurons)
 	{
-	    neuron.second->calculateActivation();
-	    if (neuron.second->activationChanged())
-	    {
-		anyNodeChanged = true;
-	    }
+	    bool activationChanged = neuron->calculateActivation();
+	    anyNodeChanged = anyNodeChanged || activationChanged;
 	}
     }
 
     int currentMaxIndex = 0;
-    double currentMaxActivation = _outputs[0]->activation();
+    double currentMaxActivation = _outputs.at(0)->activation();
 
     for (unsigned int i=1; i<_outputs.size(); ++i)
     {
-	double activation = _outputs[i]->activation();
+	double activation = _outputs.at(i)->activation();
 	if (activation >= currentMaxActivation)
 	{
 	    currentMaxActivation = activation;