burlap.domain.singleagent.cartpole.model

Class IPModel

java.lang.Object

burlap.domain.singleagent.cartpole.model.IPModel

All Implemented Interfaces:

FullStateModel, SampleStateModel

public class IPModel
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

Constructor Summary

Constructors

Constructor and Description
IPModel(InvertedPendulum.IPPhysicsParams physParams)

Method Summary

Modifier and Type	Method and Description
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.
protected State	updateState(State s, double controlForce) Updates the given state object given the control force.

Methods inherited from class java.lang.Object

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

Constructor Detail

IPModel

public IPModel(InvertedPendulum.IPPhysicsParams physParams)

Method Detail

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

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.

updateState

protected State updateState(State s,
                            double controlForce)

Updates the given state object given the control force.

Parameters:

s - the input state

controlForce - the control force acted upon the cart.

Returns:

the updated State