RobotCarVel.hh

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#ifndef _ROBOTCAR_H_
#define _ROBOTCAR_H_

#include <set>
#include <rl_common/Random.h>
#include <rl_common/core.hh>

class RobotCarVel: public Environment {
public:

  RobotCarVel(Random &rand, bool randomVel, bool upVel, bool tenToSix, bool lag);

  virtual ~RobotCarVel();

  virtual const std::vector<float> &sensation() const;
  virtual float apply(int action);

  virtual bool terminal() const;
  virtual void reset();

  virtual int getNumActions();
  virtual void getMinMaxFeatures(std::vector<float> *minFeat, std::vector<float> *maxFeat);
  virtual void getMinMaxReward(float* minR, float* maxR);

  void setSensation(std::vector<float> newS);

  virtual std::vector<experience> getSeedings();

  experience getRandomVelSeed(float target);

  experience getExp(float s0, float s1, float s2, float s3, int a);

  //virtual bool isEpisodic() { return false; };

  float bound(float val, float min, float max);

protected:
  enum car_action_t {NOTHING, THROTTLE_UP, THROTTLE_DOWN, BRAKE_UP, BRAKE_DOWN};

private:

  Random &rng;

  std::vector<float> s;
  std::vector<float> hidden;
 
  float &targetVel;
  float &currVel;
  float &trueThrottle;
  float &trueBrake;
  float &throttleTarget;
  float &brakeTarget;

  const bool randomVel;
  const bool upVel;
  const bool tenToSix;
  const bool lag;

  float brakePosVel;
  int actNum;

};

#endif