OpenANN-apidoc/DoublePoleBalancing_8h_source.html

#ifndef DOUBLE_POLE_BALANCING_H_

#define DOUBLE_POLE_BALANCING_H_


#include <OpenANN/rl/Environment.h>

#include <Eigen/Core>


class DoublePoleBalancing : public OpenANN::Environment

{

  bool fullyObservable;

  double gravity;

  double cartMass;

  double tau;

  double pole1Mass;

  double pole2Mass;

  double pole1Length;

  double pole2Length;

  double mup;

  double muc;

  double initialPoleAngularPosition1;

  double maxCartPosition;

  double maxPoleAngularPosition1;

  double maxPoleAngularPosition2;

  int maxSteps;

  double maxForce;


  double massLength1;

  double massLength2;


  Environment::Action actionSpaceLo;

  Environment::Action actionSpaceHi;

  Environment::State stateSpaceLo;

  Environment::State StateSpaceHi;

  Environment::State stateNormalizationVector;


  Environment::Action action;

  Environment::State state;

  Environment::State normalizedState;

  int step;

public:

  DoublePoleBalancing(bool fullyObservable = true);

  virtual bool actionSpaceContinuous() const;

  virtual int actionSpaceDimension() const;

  virtual int actionSpaceElements() const;

  virtual double deltaT() const;

  virtual const Action& actionSpaceLowerBound() const;

  virtual const Action& actionSpaceUpperBound() const;

  virtual const Action& getAction() const;

  virtual const ActionSpace::A& getDiscreteActionSpace() const;

  virtual const StateSpace::S& getDiscreteStateSpace() const;

  virtual const State& getState() const;

  virtual void restart();

  virtual double reward() const;

  virtual bool stateSpaceContinuous() const;

  virtual int stateSpaceDimension() const;

  virtual int stateSpaceElements() const;

  virtual const State& stateSpaceLowerBound() const;

  virtual const State& stateSpaceUpperBound() const;

  virtual void stateTransition(const Action& action);

  virtual int stepsInEpisode() const;

  virtual bool successful() const;

  virtual bool terminalState() const;

private:

  void normalizeState();

  State derivative(const State& state, double force);

  State rk4(const State& state, double force, const State& derivative);

};


#endif // DOUBLE_POLE_BALANCING_H_