CartPoleDomain.CPPhysicsParams

java.lang.Object
- burlap.domain.singleagent.cartpole.CartPoleDomain.CPPhysicsParams

Enclosing class:: CartPoleDomain

public static class CartPoleDomain.CPPhysicsParams
extends java.lang.Object

Field Summary

Fields
Modifier and Type	Field and Description
`double`	`angleRange` The maximum radius the pole can fall.
`double`	`cartFriction` The friction between the cart and ground
`double`	`cartMass` The mass of the cart.
`double`	`gravity` the force of gravity; should be positive for the correct mechanics.
`double`	`halfPoleLength` The half length of the pole.
`double`	`halfTrackLength`
`boolean`	`isFiniteTrack` Whether the track is finite (true) or infinite (false).
`double`	`maxAngleSpeed` The maximum speed of the change in angle.
`double`	`maxCartSpeed` The maximum speed of the cart.
`double`	`movementForceMag` The force magnatude that can be exterted in either direction on the cart
`double`	`poleFriction` The friction between the pole and the joint on the cart.
`double`	`poleMass` The mass of the pole.
`double`	`timeDelta` The time between each action selection
`boolean`	`useCorrectModel` Specifies whether the correct Cart Pole physical model should be used or the classic, but incorrect, Barto Sutton and Anderson model [1].

Constructor Summary

Constructors
Constructor and Description
`CPPhysicsParams()`
`CPPhysicsParams(double halfTrackLength, double angleRange, double gravity, double cartMass, double poleMass, double halfPoleLength, double cartFriction, double poleFriction, double movementForceMag, double timeDelta, double maxCartSpeed, double maxAngleSpeed, boolean isFiniteTrack, boolean useCorrectModel)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type Method and Description

CartPoleDomain.CPPhysicsParams copy()
- Methods inherited from class java.lang.Object
  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`CartPoleDomain.CPPhysicsParams`	`copy()`

- Field Detail
  - halfTrackLength
```
public double halfTrackLength
```
  - angleRange
```
public double angleRange
```
    The maximum radius the pole can fall. Note, physics get weird and non-realisitc at pi/2; task should terminate before then.
  - gravity
```
public double gravity
```
    the force of gravity; should be *positive* for the correct mechanics.
  - cartMass
```
public double cartMass
```
    The mass of the cart.
  - poleMass
```
public double poleMass
```
    The mass of the pole.
  - halfPoleLength
```
public double halfPoleLength
```
    The half length of the pole.
  - cartFriction
```
public double cartFriction
```
    The friction between the cart and ground
  - poleFriction
```
public double poleFriction
```
    The friction between the pole and the joint on the cart.
  - movementForceMag
```
public double movementForceMag
```
    The force magnatude that can be exterted in either direction on the cart
  - timeDelta
```
public double timeDelta
```
    The time between each action selection
  - maxCartSpeed
```
public double maxCartSpeed
```
    The maximum speed of the cart. A good place to set it to is somewhere around the max expected if the cart was pushed from one side of the track to the other. The default is 6.81 (which is an upperbound of that with default parameters)
  - maxAngleSpeed
```
public double maxAngleSpeed
```
    The maximum speed of the change in angle. The default sets it to the speed that would result in 12 degress for a sinlge time step of 0.02 (which is about 10.47 radians/second), since 12 degrees is the default termination range.
  - isFiniteTrack
```
public boolean isFiniteTrack
```
    Whether the track is finite (true) or infinite (false). When the track is infinite, the position of the cart always remains the same.
  - useCorrectModel
```
public boolean useCorrectModel
```
    Specifies whether the correct Cart Pole physical model should be used or the classic, but incorrect, Barto Sutton and Anderson model [1].
- Constructor Detail
  - CPPhysicsParams
```
public CPPhysicsParams()
```
  - CPPhysicsParams
```
public CPPhysicsParams(double halfTrackLength,
                       double angleRange,
                       double gravity,
                       double cartMass,
                       double poleMass,
                       double halfPoleLength,
                       double cartFriction,
                       double poleFriction,
                       double movementForceMag,
                       double timeDelta,
                       double maxCartSpeed,
                       double maxAngleSpeed,
                       boolean isFiniteTrack,
                       boolean useCorrectModel)
```
- Method Detail
  - copy
```
public CartPoleDomain.CPPhysicsParams copy()
```

Class CartPoleDomain.CPPhysicsParams

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

halfTrackLength

angleRange

gravity

cartMass

poleMass

halfPoleLength

cartFriction

poleFriction

movementForceMag

timeDelta

maxCartSpeed

maxAngleSpeed

isFiniteTrack

useCorrectModel

Constructor Detail

CPPhysicsParams

CPPhysicsParams

Method Detail

copy