Public Member Functions | Protected Types | Private Attributes
RobotCarVel Class Reference

#include <RobotCarVel.hh>

Inheritance diagram for RobotCarVel:
Inheritance graph

List of all members.

Public Member Functions

virtual float apply (int action)
float bound (float val, float min, float max)
experience getExp (float s0, float s1, float s2, float s3, int a)
virtual void getMinMaxFeatures (std::vector< float > *minFeat, std::vector< float > *maxFeat)
virtual void getMinMaxReward (float *minR, float *maxR)
virtual int getNumActions ()
experience getRandomVelSeed (float target)
virtual std::vector< experiencegetSeedings ()
virtual void reset ()
 RobotCarVel (Random &rand, bool randomVel, bool upVel, bool tenToSix, bool lag)
virtual const std::vector
< float > & 
sensation () const
void setSensation (std::vector< float > newS)
virtual bool terminal () const
virtual ~RobotCarVel ()

Protected Types

enum  car_action_t {

Private Attributes

int actNum
float brakePosVel
float & brakeTarget
float & currVel
std::vector< float > hidden
const bool lag
const bool randomVel
std::vector< float > s
float & targetVel
const bool tenToSix
float & throttleTarget
float & trueBrake
float & trueThrottle
const bool upVel

Detailed Description

This class defines a domain that is a simulation of velocity control for the Austin Robot Technology autonomous vehicle.

Definition at line 20 of file RobotCarVel.hh.

Member Enumeration Documentation

enum RobotCarVel::car_action_t [protected]

Definition at line 61 of file RobotCarVel.hh.

Constructor & Destructor Documentation

RobotCarVel::RobotCarVel ( Random rand,
bool  randomVel,
bool  upVel,
bool  tenToSix,
bool  lag 

Creates a RobotCarVel domain.

randRandom number generator
randomVelUse random starting and target velocities
upVelFor specific velocity pair (not random), do target > starting vel
tenToSixUse 10 and 6 m/s for specific velocity pair, rather than 7 and 2
lagImplements lag on the brake actuator to fully model the real vehicle.

Definition at line 14 of file

Definition at line 34 of file

Member Function Documentation

float RobotCarVel::apply ( int  action) [virtual]

Implements Environment.

Definition at line 40 of file

float RobotCarVel::bound ( float  val,
float  min,
float  max 

Bound a value between the given min and max.

Definition at line 302 of file

experience RobotCarVel::getExp ( float  s0,
float  s1,
float  s2,
float  s3,
int  a 

Get an example experience for the given state-action.

Definition at line 241 of file

void RobotCarVel::getMinMaxFeatures ( std::vector< float > *  minFeat,
std::vector< float > *  maxFeat 
) [virtual]

Implements Environment.

Definition at line 283 of file

void RobotCarVel::getMinMaxReward ( float *  minR,
float *  maxR 
) [virtual]

Implements Environment.

Definition at line 294 of file

int RobotCarVel::getNumActions ( ) [virtual]

Implements Environment.

Definition at line 167 of file

Get an experience seed at a random velocity for the given target velocity.

Definition at line 229 of file

std::vector< experience > RobotCarVel::getSeedings ( ) [virtual]

Reimplemented from Environment.

Definition at line 182 of file

void RobotCarVel::reset ( void  ) [virtual]

Implements Environment.

Definition at line 130 of file

const std::vector< float > & RobotCarVel::sensation ( ) const [virtual]

Implements Environment.

Definition at line 36 of file

void RobotCarVel::setSensation ( std::vector< float >  newS) [virtual]

Set the state vector for debug purposes.

Reimplemented from Environment.

Definition at line 172 of file

bool RobotCarVel::terminal ( ) const [virtual]

Implements Environment.

Definition at line 124 of file

Member Data Documentation

int RobotCarVel::actNum [private]

Definition at line 83 of file RobotCarVel.hh.

float RobotCarVel::brakePosVel [private]

Definition at line 82 of file RobotCarVel.hh.

float& RobotCarVel::brakeTarget [private]

Definition at line 75 of file RobotCarVel.hh.

float& RobotCarVel::currVel [private]

Definition at line 71 of file RobotCarVel.hh.

std::vector<float> RobotCarVel::hidden [private]

Definition at line 68 of file RobotCarVel.hh.

const bool RobotCarVel::lag [private]

Definition at line 80 of file RobotCarVel.hh.

const bool RobotCarVel::randomVel [private]

Definition at line 77 of file RobotCarVel.hh.

Definition at line 65 of file RobotCarVel.hh.

std::vector<float> RobotCarVel::s [private]

Definition at line 67 of file RobotCarVel.hh.

float& RobotCarVel::targetVel [private]

Definition at line 70 of file RobotCarVel.hh.

const bool RobotCarVel::tenToSix [private]

Definition at line 79 of file RobotCarVel.hh.

float& RobotCarVel::throttleTarget [private]

Definition at line 74 of file RobotCarVel.hh.

float& RobotCarVel::trueBrake [private]

Definition at line 73 of file RobotCarVel.hh.

float& RobotCarVel::trueThrottle [private]

Definition at line 72 of file RobotCarVel.hh.

const bool RobotCarVel::upVel [private]

Definition at line 78 of file RobotCarVel.hh.

The documentation for this class was generated from the following files:

autogenerated on Thu Jun 6 2019 22:00:24