burlap.domain.singleagent.cartpole

Class InvertedPendulum.IPPhysicsParams

java.lang.Object

burlap.domain.singleagent.cartpole.InvertedPendulum.IPPhysicsParams

Enclosing class:

InvertedPendulum

public static class InvertedPendulum.IPPhysicsParams
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
double	actionForce The force (magnitude) applied by a left or right action.
double	actionNoise The force (magnitude) noise in any action, including the no force action.
double	angleRange The maximum radius the pole can fall.
double	cartMass The mass of the cart.
double	gravity the force of gravity; should be *positive* for the correct mechanics.
double	maxAngleSpeed The maximum speed (magnitude) of the change in angle.
double	poleLength The length of the pole
double	poleMass The mass of the pole.
double	timeDelta The time between each action selection

Constructor Summary

Constructors

Constructor and Description
IPPhysicsParams()
IPPhysicsParams(double angleRange, double gravity, double cartMass, double poleMass, double poleLength, double actionForce, double actionNoise, double maxAngleSpeed, double timeDelta)

Method Summary

Modifier and Type	Method and Description
InvertedPendulum.IPPhysicsParams	copy()

Methods inherited from class java.lang.Object

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

Field Detail

angleRange

public double angleRange

The maximum radius the pole can fall. Note, physics get weird and non-realistic 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.

poleLength

public double poleLength

The length of the pole

actionForce

public double actionForce

The force (magnitude) applied by a left or right action.

actionNoise

public double actionNoise

The force (magnitude) noise in any action, including the no force action.

maxAngleSpeed

public double maxAngleSpeed

The maximum speed (magnitude) of the change in angle. The default sets it to 1

timeDelta

public double timeDelta

The time between each action selection

Constructor Detail

IPPhysicsParams

public IPPhysicsParams()

IPPhysicsParams

public IPPhysicsParams(double angleRange,
                       double gravity,
                       double cartMass,
                       double poleMass,
                       double poleLength,
                       double actionForce,
                       double actionNoise,
                       double maxAngleSpeed,
                       double timeDelta)

Method Detail

copy

public InvertedPendulum.IPPhysicsParams copy()