Implementation of Continuous Double Pole Cart Balancing task. More...

Classes
struct	Action
	Implementation of action of Continuous Double Pole Cart. More...

class	State
	Implementation of the state of Continuous Double Pole Cart. More...

Public Member Functions
	ContinuousDoublePoleCart (const double m1=0.1, const double m2=0.01, const double l1=0.5, const double l2=0.05, const double gravity=9.8, const double massCart=1.0, const double forceMag=10.0, const double tau=0.02, const double thetaThresholdRadians=36 2 3.1416/360, const double xThreshold=2.4, const double doneReward=0.0, const size_t maxSteps=0)
	Construct a Double Pole Cart instance using the given constants. More...

void	Dsdt (const State &state, const Action &action, arma::vec &dydx)
	This is the ordinary differential equations required for estimation of next state through RK4 method. 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 car 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...

void	RK4 (const State &state, const Action &action, arma::vec &dydx, State &nextState)
	This function calls the RK4 iterative method to estimate the next state based on given ordinary differential equation. More...

double	Sample (const State &state, const Action &action, State &nextState)
	Dynamics of Continuous Double Pole Cart instance. More...

double	Sample (const State &state, const Action &action)
	Dynamics of Continuous Double Pole Cart. More...

size_t	StepsPerformed () const
	Get the number of steps performed. More...

Detailed Description

Implementation of Continuous Double Pole Cart Balancing task.

This is an extension of the existing CartPole environment. The environment comprises of a cart with two upright poles of different lengths and masses. The agent is meant to balance the poles by applying force on the cart.

Definition at line 28 of file continuous_double_pole_cart.hpp.

Constructor & Destructor Documentation

◆ ContinuousDoublePoleCart()

ContinuousDoublePoleCart	(	const double	m1 = `0.1`,
		const double	m2 = `0.01`,
		const double	l1 = `0.5`,
		const double	l2 = `0.05`,
		const double	gravity = `9.8`,
		const double	massCart = `1.0`,
		const double	forceMag = `10.0`,
		const double	tau = `0.02`,
		const double	thetaThresholdRadians = `36 * 2 * 3.1416 / 360`,
		const double	xThreshold = `2.4`,
		const double	doneReward = `0.0`,
		const size_t	maxSteps = `0`
	)

inline

Construct a Double Pole Cart instance using the given constants.

Parameters

m1	The mass of the first pole.
m2	The mass of the second pole.
l1	The length of the first pole.
l2	The length of the second pole.
gravity	The gravity constant.
massCart	The mass of the cart.
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.
maxSteps	The number of steps after which the episode terminates. If the value is 0, there is no limit.