FitnessP ModularRobotEvalOp::evaluate ( IndividualP individual )
Objective function.
{
    //-- Create a fitness object to maximize the objective (distance travelled in m)
    FitnessP fitness (new FitnessMax);

    //-- We get the genotype:
    FloatingPoint::FloatingPoint* genotype = (FloatingPoint::FloatingPoint*) individual->getGenotype(0).get();

    //-- Value to store the fitness (distance travelled)
    double fitness_value = 0;

    //-- Here we record the genotypes on a gait table file:
    std::cout << "[Evolve] Convert to gait table!" << std::endl;
    genotypeToRobot( genotype );

    //-- Reset the robot:
    std::cout << "[Evolve] Reset!" << std::endl;
    robotInterface->reset();

    //-- Run the robot:
    std::cout << "[Evolve] Run!" << std::endl;

    //-- Here you put the main loop
    unsigned long elapsed_time = 0; //-- Should be in uS
    unsigned long max_time_us = max_runtime*1000;
    joint_values.clear();
    for (int i = 0; i < (int) n_modules; i++)
        joint_values.push_back(0);

    while( elapsed_time < max_time_us )
    {
        //-- Update joint values
        for ( int i = 0; i < (int) oscillators.size(); i++)
            joint_values[i] = oscillators[i]->calculatePos(elapsed_time);

        //-- Send joint values
        robotInterface->sendJointValues(joint_values, timestep);

        elapsed_time+=(unsigned long) (timestep*1000);

        //std::cout << "[Evolve] Time: " << elapsed_time << "us" << std::endl;
    }

    //-- Select the fitness value (distance travelled in m)
    fitness_value = robotInterface->getTravelledDistance();

    //-- Set the fitness value
    fitness->setValue( fitness_value);

    std::cout << "[Evolve] Return!" << std::endl;
    return fitness;
}
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