ccartpolemodel.h

强化学习算法（R-Learning）难得的珍贵资料

// Copyright (C) 2003
// Gerhard Neumann ([e-mail])

//                
// This file is part of RL Toolbox.
// http://www.igi.tugraz.at/ril_toolbox
//
// All rights reserved.
// 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
// 3. The name of the author may not be used to endorse or promote products
//    derived from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
// OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
// IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
// NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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#ifndef __CCARTPOLE_H
#define __CCARTPOLE_H

#include "cqtconfig.h"

#include "ctransitionfunction.h"
#include "crewardfunction.h"
#include "ril_debug.h"

#ifdef RL_TOOLBOX_USE_QT
#include "cqtmodelvisualizer.h"
#endif

class CCartPoleModel : public CDynamicLinearActionContinuousTimeModel
{
protected:
	virtual void doSimulationStep(CState *state, rlt_real timestep, CAction *action, CActionData *data);


public:
	rlt_real uMax;
	rlt_real lengthTrack;
	rlt_real g;
	rlt_real massCart;
	rlt_real massPole;
	rlt_real lengthPole;
	rlt_real mu_c; // friction cart
	rlt_real mu_p; // friction pole

	bool endLeaveTrack;
	bool endOverRotate;

	rlt_real failedReward;

	CCartPoleModel(rlt_real dt, rlt_real uMax = 10, rlt_real lengthTrack = 4.8, rlt_real lengthPole = 0.5, rlt_real massCart = 1.0, rlt_real massPole = 0.5,  rlt_real mu_c = 1.0, rlt_real mu_p = 0.1, rlt_real g = 9.8, bool endLeaveTrack = true,bool endOverRotate = true);
	~CCartPoleModel();

	virtual CMyMatrix *getB(CState *state);
	virtual CMyVector *getA(CState *state);

	virtual bool isFailedState(CState *state);

	virtual void getResetState(CState *state);
};

class CCartPoleRewardFunction : public CStateReward
{
protected:
	CCartPoleModel *cartpoleModel;
public:
	bool useHeighPeak;
	bool punishOverRotate;
	CCartPoleRewardFunction(CCartPoleModel *model);

	virtual rlt_real getStateReward(CState *state);
	virtual void getInputDerivation(CState *modelState, CMyVector *targetState);

};

class CCartPoleHeightRewardFunction : public CStateReward
{
protected:
	CCartPoleModel *cartpoleModel;
public:
	CCartPoleHeightRewardFunction(CCartPoleModel *model);

	virtual rlt_real getStateReward(CState *state);
	virtual void getInputDerivation(CState *modelState, CMyVector *targetState);

};

#ifdef RL_TOOLBOX_USE_QT

class CQTCartPoleVisualizer : public CQTModelVisualizer
{
protected:
	rlt_real phi;
	rlt_real dphi;
	rlt_real x;
	rlt_real dx;

	CCartPoleModel *cartModel;

	virtual void doDrawState( QPainter *painter);

public:

	CQTCartPoleVisualizer( CCartPoleModel *model, QWidget *parent = NULL, const char *name = NULL);

	virtual void newDrawState(CStateCollection *state);
};

#endif

#endif