CartPole Class Reference

Implementation of Cart Pole task. More...

Classes
class	Action
	Implementation of action of Cart Pole. More...
class	State
	Implementation of the state of Cart Pole. More...

Public Member Functions
	CartPole (const size_t maxSteps=200, const double gravity=9.8, const double massCart=1.0, const double massPole=0.1, const double length=0.5, const double forceMag=10.0, const double tau=0.02, const double thetaThresholdRadians=12 *2 *3.1416/360, const double xThreshold=2.4, const double doneReward=1.0)
	Construct a Cart Pole instance using the given constants. More...
State	InitialSample ()
	Initial state representation is randomly generated within [-0.05, 0.05]. More...
bool	IsTerminal (const State &state) const
	This function checks if the cart has reached the terminal state. More...
size_t	MaxSteps () const
	Get the maximum number of steps allowed. More...
size_t &	MaxSteps ()
	Set the maximum number of steps allowed. More...
double	Sample (const State &state, const Action &action, State &nextState)
	Dynamics of Cart Pole instance. More...
double	Sample (const State &state, const Action &action)
	Dynamics of Cart Pole. More...
size_t	StepsPerformed () const
	Get the number of steps performed. More...

Detailed Description

Implementation of Cart Pole task.

Definition at line 26 of file cart_pole.hpp.

Constructor & Destructor Documentation

CartPole()

CartPole ( const size_t  maxSteps = 200, const double  gravity = 9.8, const double  massCart = 1.0, const double  massPole = 0.1, const double  length = 0.5, const double  forceMag = 10.0, const double  tau = 0.02, const double  thetaThresholdRadians = 12 * 2 * 3.1416 / 360, const double  xThreshold = 2.4, const double  doneReward = 1.0  )

inline

Construct a Cart Pole instance using the given constants.

Parameters

maxSteps	The number of steps after which the episode terminates. If the value is 0, there is no limit.
gravity	The gravity constant.
massCart	The mass of the cart.
massPole	The mass of the pole.
length	The length of the pole.
forceMag	The magnitude of the applied force.
tau	The time interval.
thetaThresholdRadians	The maximum angle.
xThreshold	The maximum position.
doneReward	Reward recieved by agent on success.

Definition at line 117 of file cart_pole.hpp.

Member Function Documentation

InitialSample()

State InitialSample ( )

inline

Initial state representation is randomly generated within [-0.05, 0.05].

Returns

Initial state for each episode.

Definition at line 207 of file cart_pole.hpp.

References CartPole::State::State().

IsTerminal()

bool IsTerminal ( const State &  state ) const

inline

This function checks if the cart has reached the terminal state.

Parameters

state

The desired state.

Returns

true if state is a terminal state, otherwise false.

Definition at line 219 of file cart_pole.hpp.

References CartPole::State::Angle(), Log::Info, and CartPole::State::Position().

Referenced by CartPole::Sample().

MaxSteps() [1/2]

size_t MaxSteps ( ) const

inline

Get the maximum number of steps allowed.

Definition at line 240 of file cart_pole.hpp.

MaxSteps() [2/2]

size_t& MaxSteps ( )

inline

Set the maximum number of steps allowed.

Definition at line 242 of file cart_pole.hpp.

Sample() [1/2]

double Sample ( const State &  state, const Action &  action, State &  nextState  )

inline

Dynamics of Cart Pole instance.

Get reward and next state based on current state and current action.

Parameters

state	The current state.
action	The current action.
nextState	The next state.

Returns

reward, it's always 1.0.

When done is false, it means that the cartpole has fallen down. For this case the reward is 1.0.

Definition at line 151 of file cart_pole.hpp.

References CartPole::Action::action, CartPole::State::Angle(), CartPole::State::AngularVelocity(), CartPole::IsTerminal(), CartPole::State::Position(), and CartPole::State::Velocity().

Referenced by CartPole::Sample().

Sample() [2/2]

double Sample ( const State &  state, const Action &  action  )

inline

Dynamics of Cart Pole.

Get reward based on current state and current action.

Parameters

state	The current state.
action	The current action.

Returns

reward, it's always 1.0.

Definition at line 196 of file cart_pole.hpp.

References CartPole::Sample().

StepsPerformed()

size_t StepsPerformed ( ) const

inline

Get the number of steps performed.

Definition at line 237 of file cart_pole.hpp.

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

• /home/ryan/src/mlpack.org/_src/mlpack-git/src/mlpack/methods/reinforcement_learning/environment/cart_pole.hpp