void Genome::mutate_add_sensor(Vector<Innovation*> &innovs,double &curinnov) {

	Vector<NNode*> sensors;
	Vector<NNode*> outputs;
	NNode *node;	
	NNode *sensor;
	NNode *output;
	Gene *gene;

	double newweight;
	Gene *newgene;

	int i,j; //counters
	bool found;

	bool done;	

	int outputConnections;

	Vector<Trait*>::iterator thetrait;
	int traitnum;

	Vector<Innovation*>::iterator theinnov; //For finding a historical match

	//Find all the sensors and outputs
	for (i = 0; i < nodes.size(); i++) {
		node=nodes[i];

		if ((node->type)==SENSOR)
			sensors.push_back(node);
		else if (node->gen_node_label == OUTPUT)
			outputs.push_back(node);
	}

	 // eliminate from contention any sensors that are already connected
	 for (i = 0; i < sensors.size(); i++) {	
		sensor=sensors[i];
		
		outputConnections=0;


		for (int j = 0; j < genes.size(); j++) {
			gene=genes[j];

			if ((gene->lnk)->out_node->gen_node_label == OUTPUT)
				outputConnections++;	

		}

		if (outputConnections == outputs.size()) {
			sensors.erase(i); //Does this work? remove by number from a vector?
			--i;
 		}

	 }

	//If all sensors are connected, quit
	if (sensors.size() == 0)
		return;

	//Pick randomly from remaining sensors
	sensor=sensors[randint(0,sensors.size()-1)];

	//Add new links to chosen sensor, avoiding redundancy
	for (int i = 0; i < outputs.size(); i++) {
		output=outputs[i];

		found=false;
           		for (j = 0; j < genes.size(); j++) {
			gene=genes[j];
			if ((gene->lnk->in_node==sensor)&&
			    (gene->lnk->out_node==output))
				found=true;	
		}

		//Record the innovation
		if (!found) {
			theinnov=innovs.begin();
			done=false;

			while (!done) {
				//The innovation is novel
				if (theinnov==innovs.end()) {
					
        					//Choose a random trait
        					traitnum=randint(0,(traits.size())-1);
        					thetrait=traits.begin();
					
					//Choose the new weight
        					//newweight=(gaussrand())/1.5;  //Could use a gaussian
        					newweight=randposneg()*randfloat()*3.0; //used to be 10.0

        					//Create the new gene
        					newgene=new Gene(((thetrait[traitnum])),
							newweight,sensor,output,false,
							curinnov,newweight);

					//Add the innovation
        					innovs.push_back(new Innovation(sensor->node_id,
						output->node_id,curinnov,newweight,traitnum));

        					curinnov=curinnov+1.0;

        					done=true;
			         	} //end novel innovation case
			        	//OTHERWISE, match the innovation in the innovs list
      			 	else if (((*theinnov)->innovation_type==NEWLINK)&&
               				((*theinnov)->node_in_id==(sensor->node_id))&&
               			 	((*theinnov)->node_out_id==(output->node_id))&&
               				((*theinnov)->recur_flag==false)) {

					thetrait=traits.begin();

					//Create new gene
          					newgene=
					    new Gene(((thetrait[(*theinnov)->new_traitnum])),
            					         (*theinnov)->new_weight,sensor,output,
						        false,(*theinnov)->innovation_num1,0);

					done=true;

				} //end prior innovation case
				//Keep looking for matching innovation
				else ++theinnov;

			}  //end while

			genes.push_back(newgene);

		} //end case where the gene didn't previously exist
	}

}