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, const double angleThreshold=M_PI/12, const double doneReward=0.0, const size_t maxSteps=0)
	Construct a Pendulum instance using the given values. More...
double	AngleNormalize (double theta) const
	This function calculates the normalized angle for a particular theta. More...
State	InitialSample ()
	Initial theta is randomly generated within [-pi, pi]. More...
bool	IsTerminal (const State &state) const
	This function checks if the pendulum has reaches a 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 Pendulum. More...
double	Sample (const State &state, const Action &action)
	Dynamics of Pendulum. More...
size_t	StepsPerformed () const
	Get the number of steps performed. 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, const double  angleThreshold = M_PI / 12, const double  doneReward = 0.0, const size_t  maxSteps = 0  )

inline

Construct a Pendulum instance using the given values.

Parameters

maxAngularVelocity	Maximum angular velocity.
maxTorque	Maximum torque.
dt	The differential value.
angleThreshold	The region about the upright position where the state is considered terminal.
doneReward	The reward recieved by the agent on success.
maxSteps	The number of steps after which the episode terminates. If the value is 0, there is no limit.

Definition at line 102 of file pendulum.hpp.

Member Function Documentation

AngleNormalize()

double AngleNormalize ( double  theta ) const

inline

This function calculates the normalized angle for a particular theta.

Parameters

theta

The un-normalized angle.

Definition at line 205 of file pendulum.hpp.

References M_PI.

Referenced by Pendulum::Sample().

InitialSample()

State InitialSample ( )

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 191 of file pendulum.hpp.

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

IsTerminal()

bool IsTerminal ( const State &  state ) const

inline

This function checks if the pendulum has reaches a terminal state.

Parameters

state

desired state.

Returns

true if state is a terminal state, otherwise false.

Definition at line 217 of file pendulum.hpp.

References Log::Info, M_PI, and Pendulum::State::Theta().

Referenced by Pendulum::Sample().

MaxSteps() [1/2]

size_t MaxSteps ( ) const

inline

Get the maximum number of steps allowed.

Definition at line 238 of file pendulum.hpp.

MaxSteps() [2/2]

size_t& MaxSteps ( )

inline

Set the maximum number of steps allowed.

Definition at line 240 of file pendulum.hpp.

Sample() [1/2]

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

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 126 of file pendulum.hpp.

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

Referenced by Pendulum::Sample().

Sample() [2/2]

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

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 179 of file pendulum.hpp.

References Pendulum::Sample().

StepsPerformed()

size_t StepsPerformed ( ) const

inline

Get the number of steps performed.

Definition at line 235 of file pendulum.hpp.

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

• /home/ryan/src/mlpack.org/_src/mlpack-3.2.2/src/mlpack/methods/reinforcement_learning/environment/pendulum.hpp