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<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li><li class="navelem"><a class="el" href="dir_2f33c2a6eb271d0accda2dbfed77b9c2.html">polebalancing</a></li> </ul>
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<div class="title">DoublePoleBalancing.h</div> </div>
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<a href="DoublePoleBalancing_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef DOUBLE_POLE_BALANCING_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor"></span><span class="preprocessor">#define DOUBLE_POLE_BALANCING_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <<a class="code" href="Environment_8h.html">OpenANN/rl/Environment.h</a>></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <Eigen/Core></span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div>
<div class="line"><a name="l00016"></a><span class="lineno"><a class="code" href="classDoublePoleBalancing.html"> 16</a></span> <span class="keyword">class </span><a class="code" href="classDoublePoleBalancing.html" title="In this environment the agent has to control a cart such that the two poles mounted at the top of the...">DoublePoleBalancing</a> : <span class="keyword">public</span> <a class="code" href="classOpenANN_1_1Environment.html" title="A reinforcement learning environment. ">OpenANN::Environment</a></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> {</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordtype">bool</span> fullyObservable;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keywordtype">double</span> gravity;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordtype">double</span> cartMass;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">double</span> tau;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">double</span> pole1Mass;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordtype">double</span> pole2Mass;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordtype">double</span> pole1Length;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">double</span> pole2Length;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">double</span> mup;</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordtype">double</span> muc;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordtype">double</span> initialPoleAngularPosition1;</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">double</span> maxCartPosition;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">double</span> maxPoleAngularPosition1;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordtype">double</span> maxPoleAngularPosition2;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">int</span> maxSteps;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordtype">double</span> maxForce;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordtype">double</span> massLength1;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordtype">double</span> massLength2;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  Environment::Action actionSpaceLo;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  Environment::Action actionSpaceHi;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  Environment::State stateSpaceLo;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  Environment::State StateSpaceHi;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  Environment::State stateNormalizationVector;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Environment::Action action;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  Environment::State state;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  Environment::State normalizedState;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordtype">int</span> step;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="classDoublePoleBalancing.html#a95863ab4062fb743e60186243f5f2ef2">DoublePoleBalancing</a>(<span class="keywordtype">bool</span> fullyObservable = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classDoublePoleBalancing.html#abbd3c3ef70729f57c777535c475df4ff">actionSpaceContinuous</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classDoublePoleBalancing.html#ac3eb7bbeccb56eb4caf5d51356f73131">actionSpaceDimension</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classDoublePoleBalancing.html#ac261988b141cfcf16ae52f11370d5087">actionSpaceElements</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classDoublePoleBalancing.html#a2b6a02b239f3dafa7245324392277563" title="Time between two simulation steps. ">deltaT</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classOpenANN_1_1ActionSpace.html#aaac017b03d927e7fe400ca3fb8905cdf">Action</a>& <a class="code" href="classDoublePoleBalancing.html#a46140fa16573c48ff396f05f94d9bc18">actionSpaceLowerBound</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classOpenANN_1_1ActionSpace.html#aaac017b03d927e7fe400ca3fb8905cdf">Action</a>& <a class="code" href="classDoublePoleBalancing.html#ae78bb4f38b308415f41118fa0cb5b5ef">actionSpaceUpperBound</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classOpenANN_1_1ActionSpace.html#aaac017b03d927e7fe400ca3fb8905cdf">Action</a>& <a class="code" href="classDoublePoleBalancing.html#afcfcfd198d0f84ca149be927ea56d969" title="Get current action. ">getAction</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> ActionSpace::A& <a class="code" href="classDoublePoleBalancing.html#aec2fd2062753f494afee9978f3adc733">getDiscreteActionSpace</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> StateSpace::S& <a class="code" href="classDoublePoleBalancing.html#a728fe829235d5099dd442101f690ec46">getDiscreteStateSpace</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a>& <a class="code" href="classDoublePoleBalancing.html#a061a365ad87196c9b981e58da83e49e0" title="Get current state. ">getState</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classDoublePoleBalancing.html#a38029df5ba2a188e95f62376e90ba6a1" title="Restart environment. ">restart</a>();</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classDoublePoleBalancing.html#ab5f78f302d1edc9f0d1705d4a1d617d9" title="Get reward. ">reward</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classDoublePoleBalancing.html#a79226e04a88e6502f87f990c18343d6b">stateSpaceContinuous</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classDoublePoleBalancing.html#a9d9839bf82c924ee895f0c4d7b9af680">stateSpaceDimension</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classDoublePoleBalancing.html#a7aff698065005d338d1d41bfe72747e7">stateSpaceElements</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a>& <a class="code" href="classDoublePoleBalancing.html#a52a20eb55ea29281b9301053b2e311f5">stateSpaceLowerBound</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a>& <a class="code" href="classDoublePoleBalancing.html#acb6ab78c5b9d6cbdbca47b2e0dc12a92">stateSpaceUpperBound</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classDoublePoleBalancing.html#a9772abb4c67333406bbc6ecbc4865321" title="Perform an action. ">stateTransition</a>(<span class="keyword">const</span> <a class="code" href="classOpenANN_1_1ActionSpace.html#aaac017b03d927e7fe400ca3fb8905cdf">Action</a>& action);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classDoublePoleBalancing.html#a4ec08f911389695cada35ce8d7c9f903" title="Number of steps during the episode. ">stepsInEpisode</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classDoublePoleBalancing.html#a908131e1ba801534b636f72bb56c62ea" title="Check if the agent was successful. ">successful</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classDoublePoleBalancing.html#aedf69b0a2cb8a9fbdbca8a4957515bd9" title="Check for terminal state. ">terminalState</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">void</span> normalizeState();</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a> derivative(<span class="keyword">const</span> <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a>& state, <span class="keywordtype">double</span> force);</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a> rk4(<span class="keyword">const</span> <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a>& state, <span class="keywordtype">double</span> force, <span class="keyword">const</span> <a class="code" href="classOpenANN_1_1StateSpace.html#a9f9f30d1d4987e17843ea412e0d8a34c">State</a>& derivative);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> };</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="preprocessor">#endif // DOUBLE_POLE_BALANCING_H_</span></div>
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