burlap.domain.singleagent.cartpole

Class CartPoleDomain.CartPoleTerminalFunction

java.lang.Object

burlap.domain.singleagent.cartpole.CartPoleDomain.CartPoleTerminalFunction

All Implemented Interfaces:

TerminalFunction

Enclosing class:

CartPoleDomain

public static class CartPoleDomain.CartPoleTerminalFunction
extends java.lang.Object
implements TerminalFunction

A default terminal function for this domain. Terminates when cart reaches end of track of angle between pole and vertical axis is greater than 12 degrees (about 0.2 radians).

Author:

James MacGlashan

Constructor Summary

Constructors

Constructor and Description
CartPoleTerminalFunction() Initializes with default max angle of 12 degrees (about 0.2 radians)
CartPoleTerminalFunction(double maxAbsoluteAngleInRadians) Initializes with a max pole angle as specified in radians

Method Summary

Modifier and Type	Method and Description
double	getHalfTrackLength()
double	getMaxAbsoluteAngle()
boolean	isTerminal(State s)
void	setHalfTrackLength(double halfTrackLength)
void	setMaxAbsoluteAngle(double maxAbsoluteAngle)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CartPoleTerminalFunction

public CartPoleTerminalFunction()

Initializes with default max angle of 12 degrees (about 0.2 radians)

CartPoleTerminalFunction

public CartPoleTerminalFunction(double maxAbsoluteAngleInRadians)

Initializes with a max pole angle as specified in radians

Parameters:

maxAbsoluteAngleInRadians - the maximum pole angle that causes task termination/failure.

Method Detail

getMaxAbsoluteAngle

public double getMaxAbsoluteAngle()

setMaxAbsoluteAngle

public void setMaxAbsoluteAngle(double maxAbsoluteAngle)

getHalfTrackLength

public double getHalfTrackLength()

setHalfTrackLength

public void setHalfTrackLength(double halfTrackLength)

isTerminal

public boolean isTerminal(State s)

Specified by:

isTerminal in interface TerminalFunction