Pendulum Class Reference

Implementation of Pendulum task. More...

Classes
struct	Action
	Implementation of action of Pendulum. More...
class	State
	Implementation of state of Pendulum. More...

Public Member Functions
	Pendulum (const double maxAngularVelocity=8, const double maxTorque=2.0, const double dt=0.05)
	Construct a Pendulum instance using the given values. More...
double	AngleNormalize (double theta) const
	This function calculates the normalized anlge for a particular theta. More...
State	InitialSample () const
	Initial theta is randomly generated within [-pi, pi]. More...
double	Sample (const State &state, const Action &action, State &nextState) const
	Dynamics of Pendulum. More...
double	Sample (const State &state, const Action &action) const
	Dynamics of Pendulum. More...

Detailed Description

Implementation of Pendulum task.

The inverted pendulum swingup problem is a classic problem in the control literature. In this version of the problem, the pendulum starts in a random position, and the goal is to swing it up so it stays upright

Definition at line 30 of file pendulum.hpp.

Constructor & Destructor Documentation

Pendulum()

Pendulum ( const double  maxAngularVelocity = 8, const double  maxTorque = 2.0, const double  dt = 0.05  )

inline

Construct a Pendulum instance using the given values.

Parameters

maxAngularVelocity	Maximum angular velocity.
maxTorque	Maximum torque.
dt	The differential value.

Definition at line 97 of file pendulum.hpp.

Member Function Documentation

AngleNormalize()

double AngleNormalize ( double  theta ) const

inline

This function calculates the normalized anlge for a particular theta.

Parameters

theta

The un-normalized angle.

Definition at line 180 of file pendulum.hpp.

References M_PI.

Referenced by Pendulum::Sample().

InitialSample()

State InitialSample ( ) const

inline

Initial theta is randomly generated within [-pi, pi].

Initial angular velocity is randomly generated within [-1, 1].

Returns

Initial state for each episode.

Definition at line 167 of file pendulum.hpp.

References Pendulum::State::AngularVelocity(), M_PI, mlpack::math::Random(), and Pendulum::State::Theta().

Sample() [1/2]

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

inline

Dynamics of Pendulum.

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, The reward for taking the action taken for current state.

Definition at line 114 of file pendulum.hpp.

References Pendulum::Action::action, Pendulum::AngleNormalize(), Pendulum::State::AngularVelocity(), M_PI, and Pendulum::State::Theta().

Referenced by Pendulum::Sample().

Sample() [2/2]

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

inline

Dynamics of Pendulum.

Get reward based on current state and current action

Parameters

state	The current state.
action	The current action.

Returns

reward, The reward.

Definition at line 155 of file pendulum.hpp.

References Pendulum::Sample().

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

• src/mlpack/methods/reinforcement_learning/environment/pendulum.hpp