CartPole Class Reference

Implementation of Cart Pole task. More...

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

Public Types
enum	Action {   backward ,   forward ,   size }
	Implementation of action of Cart Pole. More...

Public Member Functions
	CartPole (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=0.0)
	Construct a Cart Pole instance using the given constants. More...
State	InitialSample () const
	Initial state representation is randomly generated within [-0.05, 0.05]. More...
bool	IsTerminal (const State &state) const
	Whether given state is a terminal state. More...
double	Sample (const State &state, const Action &action, State &nextState) const
	Dynamics of Cart Pole instance. More...
double	Sample (const State &state, const Action &action) const
	Dynamics of Cart Pole. More...

Detailed Description

Implementation of Cart Pole task.

Definition at line 26 of file cart_pole.hpp.

Member Enumeration Documentation

Action

enum Action

Implementation of action of Cart Pole.

Enumerator
backward
forward
size

Definition at line 87 of file cart_pole.hpp.

Constructor & Destructor Documentation

CartPole()

CartPole ( 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 = 0.0  )

inline

Construct a Cart Pole instance using the given constants.

Parameters

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.

Definition at line 108 of file cart_pole.hpp.

Member Function Documentation

InitialSample()

State InitialSample ( ) const

inline

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

Returns

Initial state for each episode.

Definition at line 192 of file cart_pole.hpp.

References CartPole::State::State().

IsTerminal()

bool IsTerminal ( const State &  state ) const

inline

Whether given state is a terminal state.

Parameters

state

The desired state.

Returns

true if state is a terminal state, otherwise false.

Definition at line 203 of file cart_pole.hpp.

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

Referenced by CartPole::Sample().

Sample() [1/2]

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

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.

It is important to note that if the cartpole is falling down, it should be penalized.

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

Definition at line 139 of file cart_pole.hpp.

References 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  ) const

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 181 of file cart_pole.hpp.

References CartPole::Sample().

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

• /home/ryan/src/mlpack.org/_src/mlpack-3.1.1/src/mlpack/methods/reinforcement_learning/environment/cart_pole.hpp