burlap.domain.singleagent.cartpole.model

Class CPClassicModel

java.lang.Object

burlap.domain.singleagent.cartpole.model.CPClassicModel

All Implemented Interfaces:

FullStateModel, SampleStateModel

public class CPClassicModel
extends java.lang.Object
implements FullStateModel

Author:

James MacGlashan.

Nested Class Summary

Nested classes/interfaces inherited from interface burlap.mdp.singleagent.model.statemodel.FullStateModel

FullStateModel.Helper

Field Summary

Fields

Modifier and Type	Field and Description
protected CartPoleDomain.CPPhysicsParams	physParams

Constructor Summary

Constructors

Constructor and Description
CPClassicModel(CartPoleDomain.CPPhysicsParams physParams)

Method Summary

Modifier and Type	Method and Description
State	moveClassicModel(State s, double dir) Simulates the physics for one time step give the input state s, and the direction of force applied.
State	sample(State s, Action a) Samples and returns a State from a state transition function.
java.util.List<StateTransitionProb>	stateTransitions(State s, Action a) Returns the set of possible transitions when Action is applied in State s.

Methods inherited from class java.lang.Object

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

Field Detail

physParams

protected CartPoleDomain.CPPhysicsParams physParams

Constructor Detail

CPClassicModel

public CPClassicModel(CartPoleDomain.CPPhysicsParams physParams)

Method Detail

stateTransitions

public java.util.List<StateTransitionProb> stateTransitions(State s,
                                                            Action a)

Description copied from interface: FullStateModel

Returns the set of possible transitions when Action is applied in State s. The returned list only needs to include transitions that have non-zero probability of occurring.

Specified by:

stateTransitions in interface FullStateModel

Parameters:

s - the source state

a - the action to be applied in the source state

Returns:

the probability distribution of the state transition function specified as a list of StateTransitionProb objects.

sample

public State sample(State s,
                    Action a)

Description copied from interface: SampleStateModel

Samples and returns a State from a state transition function.

Specified by:

sample in interface SampleStateModel

Parameters:

s - the source state

a - the action to be executed in the source state

Returns:

a sample State

moveClassicModel

public State moveClassicModel(State s,
                              double dir)

Simulates the physics for one time step give the input state s, and the direction of force applied. The input state will be directly modified to be the next state. Physics simulated using one step of Euler's method on the non-linear differential equations provided by Barto Sutton, and Anderson [2]. Note that this model is not physically correct [1] but is left in code for historical comparisons. Optionally a correct model can be used instead.

Parameters:

s - the current state from which one time step of physics will be simulated.

dir - the direction of force applied; should be -1, or 1 and is multiplied to this objects movementForceMag parameter. 0 would cause no force.

Returns:

the input state, which has been modified to the next state after one time step of simulation.