CartPole.hh

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#ifndef _CARTPOLE_H_
#define _CARTPOLE_H_

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

class CartPole: public Environment {
public:

  CartPole(Random &rand);

  CartPole(Random &rand, bool stochastic);

  virtual ~CartPole();

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

  float transition(float force);

  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 getExp(float s0, float s1, float s2, float s3, int a);
  
protected:
  enum car_action_t {LEFT, RIGHT};

private:

  float GRAVITY;
  float MASSCART;
  float MASSPOLE;
  float TOTAL_MASS;
  float LENGTH;
  
  float POLEMASS_LENGTH;
  float FORCE_MAG;
  float TAU;
  
  float FOURTHIRDS;
  float DEG_T_RAD;
  float RAD_T_DEG;

  const bool noisy;
  Random &rng;

  std::vector<float> s;
 
  float &cartPos;
  float &cartVel;
  float &poleAngle;
  float &poleVel;

  float reward();

};

#endif