CartPole Class Reference

#include <CartPole.hh>

Inheritance diagram for CartPole:

List of all members.

Public Member Functions
virtual float	apply (int action)
	CartPole (Random &rand)
	CartPole (Random &rand, bool stochastic)
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 ()
virtual std::vector< experience >	getSeedings ()
virtual void	reset ()
virtual const std::vector < float > &	sensation () const
void	setSensation (std::vector< float > newS)
virtual bool	terminal () const
float	transition (float force)
virtual	~CartPole ()
Protected Types
enum	car_action_t { LEFT, RIGHT }
Private Member Functions
float	reward ()
Private Attributes
float &	cartPos
float &	cartVel
float	DEG_T_RAD
float	FORCE_MAG
float	FOURTHIRDS
float	GRAVITY
float	LENGTH
float	MASSCART
float	MASSPOLE
const bool	noisy
float &	poleAngle
float	POLEMASS_LENGTH
float &	poleVel
float	RAD_T_DEG
Random &	rng
std::vector< float >	s
float	TAU
float	TOTAL_MASS

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Detailed Description

This class defines the Cart-Pole balancing domain.

Definition at line 14 of file CartPole.hh.

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Member Enumeration Documentation

enum CartPole::car_action_t [protected]

Enumerator:

LEFT
RIGHT

Definition at line 53 of file CartPole.hh.

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Constructor & Destructor Documentation

CartPole::CartPole

(

Random &

rand

)

Creates a deterministic CartPole domain.

Parameters:

rand	Random number generator used solely for random initial states.

Definition at line 9 of file CartPole.cc.

CartPole::CartPole	(	Random &	rand,
		bool	stochastic
	)

Creates a Cart-Pole domain, possibly with noise.

Parameters:

rand	Random number generator
stochastic	noisy transitions?

Definition at line 23 of file CartPole.cc.

CartPole::~CartPole

(

)

[virtual]

Definition at line 36 of file CartPole.cc.

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Member Function Documentation

float CartPole::apply

(

int

action

)

[virtual]

Implements Environment.

Definition at line 105 of file CartPole.cc.

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

Get an experience for the given state-action

Definition at line 201 of file CartPole.cc.

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

Implements Environment.

Definition at line 223 of file CartPole.cc.

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

Implements Environment.

Definition at line 243 of file CartPole.cc.

int CartPole::getNumActions

(

)

[virtual]

Implements Environment.

Definition at line 169 of file CartPole.cc.

std::vector< experience > CartPole::getSeedings

(

)

[virtual]

Reimplemented from Environment.

Definition at line 184 of file CartPole.cc.

void CartPole::reset

(

void

)

[virtual]

Implements Environment.

Definition at line 137 of file CartPole.cc.

float CartPole::reward

(

)

[private]

Definition at line 119 of file CartPole.cc.

const std::vector< float > & CartPole::sensation

(

)

const [virtual]

Implements Environment.

Definition at line 38 of file CartPole.cc.

void CartPole::setSensation

(

std::vector< float >

newS

)

[virtual]

Set the state vector (for debug purposes)

Reimplemented from Environment.

Definition at line 174 of file CartPole.cc.

bool CartPole::terminal

(

)

const [virtual]

Implements Environment.

Definition at line 130 of file CartPole.cc.

float CartPole::transition

(

float

force

)

Calculate the new state and reward for the given force

Definition at line 45 of file CartPole.cc.

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Member Data Documentation

float& CartPole::cartPos [private]

Definition at line 76 of file CartPole.hh.

float& CartPole::cartVel [private]

Definition at line 77 of file CartPole.hh.

float CartPole::DEG_T_RAD [private]

Definition at line 68 of file CartPole.hh.

float CartPole::FORCE_MAG [private]

Definition at line 64 of file CartPole.hh.

float CartPole::FOURTHIRDS [private]

Definition at line 67 of file CartPole.hh.

float CartPole::GRAVITY [private]

Definition at line 57 of file CartPole.hh.

float CartPole::LENGTH [private]

Definition at line 61 of file CartPole.hh.

float CartPole::MASSCART [private]

Definition at line 58 of file CartPole.hh.

float CartPole::MASSPOLE [private]

Definition at line 59 of file CartPole.hh.

const bool CartPole::noisy [private]

Definition at line 71 of file CartPole.hh.

float& CartPole::poleAngle [private]

Definition at line 78 of file CartPole.hh.

float CartPole::POLEMASS_LENGTH [private]

Definition at line 63 of file CartPole.hh.

float& CartPole::poleVel [private]

Definition at line 79 of file CartPole.hh.

float CartPole::RAD_T_DEG [private]

Definition at line 69 of file CartPole.hh.

Random& CartPole::rng [private]

Definition at line 72 of file CartPole.hh.

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

Definition at line 74 of file CartPole.hh.

float CartPole::TAU [private]

Definition at line 65 of file CartPole.hh.

float CartPole::TOTAL_MASS [private]

Definition at line 60 of file CartPole.hh.

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

• CartPole.hh
• CartPole.cc