LunarLanderDomain

java.lang.Object
- burlap.domain.singleagent.lunarlander.LunarLanderDomain

All Implemented Interfaces:

DomainGenerator
```
public class LunarLanderDomain
extends java.lang.Object
implements DomainGenerator
```
This domain generator is used for producing a Lunar Lander domain, based on the classic Lunar Lander Atari game (1979). The agent pilots a lunar lander that has a variety of thrust actions and can rotate clockwise or counter clockwise. The agent may also do nothing and just drift. Using a thrust action exerts force in the opposite direction the lander is oriented. Gravity acts on the agent so the agent must find the right balance of thrust to take off and reach some designated landing position.
The agent object class is made up of 5 attributes, x-y position, x-y velocity, and the angle or orientation (in radians from the default vertical orientation). Two other object classes are defined for landing pads and obstacles. Both are objects are defined as a rectangular region with a left, right, bottom, and top attribute defining the space. Typically, the goal is for the agent to land on the land pad while avoiding the obstacles.
The domain generator allows the client to specify the physics and action definitions for the lunar lander. In particular the client can add as many thrust actions (each with their own thrust force) as desired, the force of gravity can be changed, the size of the domain (that is, the x space and y space in which the agent can fly before hitting a "wall") can be changed, the maximum lander rotation can be set, and the rotate increment size that results from applying a clockwise/counterclockwise rotate action can also be set. There is also a method to set the domain to a standard set of physics and actions.
If the domain generator physics parameters are changed after a domain has been generated, the previously generated domain will remain unaffected, allowing you to reuse the same domain generator to produce different versions of the domain without conflict.

Author:

James MacGlashan

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`LunarLanderDomain.LLPhysicsParams` A class for holding the physics parameters
`class`	`LunarLanderDomain.OnPadPF` A propositional function that evaluates to true if the agent has landed on the top surface of a landing pad.
`static class`	`LunarLanderDomain.ThrustType`
`class`	`LunarLanderDomain.TouchGroundPF` A propositional function that evaluates to true if the agent is touching the ground.
`class`	`LunarLanderDomain.TouchPadPF` A propositional function that evaluates to true if the agent is touching any part of the landing pad, including its side boundaries.
`class`	`LunarLanderDomain.TouchSurfacePF` A propositional function that evaluates to true if the agent is touching any part of an obstacle, including its side boundaries.

Field Summary

Fields
Modifier and Type	Field and Description
`static java.lang.String`	`ACTION_IDLE` Constant for the name of the idle action which causes the agent to do nothing by drift for a time step
`static java.lang.String`	`ACTION_THRUST` Constant for the base name of thrust actions.
`static java.lang.String`	`ACTION_TURN_LEFT` Constant for the name of the turn/rotate left/counterclockwise action
`static java.lang.String`	`ACTION_TURN_RIGHT` Constant for the name of the turn/rotate right/clockwise action
`static java.lang.String`	`CLASS_AGENT` Constant for the name of the agent OO-MDP class
`static java.lang.String`	`CLASS_OBSTACLE` Constant for the name of the obstacle OO-MDP class
`static java.lang.String`	`CLASS_PAD` Constant for the name of the goal landing pad OO-MDP class
`static java.lang.String`	`PF_ON_GROUND` Constant for the name of the propositional function that indicates whether the agent/lander is on the ground
`static java.lang.String`	`PF_ON_PAD` Constant for the name of the propositional function that indicates whether the agent/lander is on a landing pad
`static java.lang.String`	`PF_TOUCH_SURFACE` Constant for the name of the propositional function that indicates whether the agent/lander is touching an obstacle surface.
`static java.lang.String`	`PF_TOUTCH_PAD` Constant for the name of the propositional function that indicates whether the agent/lander is touching a landing pad.
`protected LunarLanderDomain.LLPhysicsParams`	`physParams` An object for holding the physics parameters of this domain.
`protected RewardFunction`	`rf`
`protected TerminalFunction`	`tf`
`protected java.util.List<java.lang.Double>`	`thrustValues` List of the thrust forces for each thrust action
`static java.lang.String`	`VAR_ANGLE` Constant for the name of the angle of orientation attribute.
`static java.lang.String`	`VAR_BOTTOM` Constant for the name of the bottom boundary attribute for rectangular obstacles and landing pads
`static java.lang.String`	`VAR_LEFT` Constant for the name of the left boundary attribute for rectangular obstacles and landing pads
`static java.lang.String`	`VAR_RIGHT` Constant for the name of the right boundary attribute for rectangular obstacles and landing pads
`static java.lang.String`	`VAR_TOP` Constant for the name of the top boundary attribute for rectangular obstacles and landing pads
`static java.lang.String`	`VAR_VX` Constant for the name of the x velocity attribute.
`static java.lang.String`	`VAR_VY` Constant for the name of the y velocity attribute.
`static java.lang.String`	`VAR_X` Constant for the name of the x position attribute.
`static java.lang.String`	`VAR_Y` Constant for the name of the y position attribute.

Constructor Summary

Constructors
Constructor and Description

LunarLanderDomain()
Initializes with no thrust actions set.

Constructors
Constructor and Description
`LunarLanderDomain()` Initializes with no thrust actions set.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addStandardThrustActions()` Adds two standard thrust actions.
`void`	`addThrustActionWithThrust(double t)` Adds a thrust action with thrust force t
`OOSADomain`	`generateDomain()` Returns a newly instanced Domain object
`java.util.List<PropositionalFunction>`	`generatePfs()`
`double`	`getAnginc()` Returns how many radians the agent will rotate from its current orientation when a turn/rotate action is applied
`double`	`getAngmax()` Returns the maximum rotate angle (in radians) that the lander can be rotated from the vertical orientation in either clockwise or counterclockwise direction.
`LunarLanderDomain.LLPhysicsParams`	`getPhysParams()`
`RewardFunction`	`getRf()`
`TerminalFunction`	`getTf()`
`double`	`getVmax()` Returns the maximum velocity of the agent (the agent cannot move faster than this value).
`double`	`getXmax()` Returns the maximum x position of the lander (the agent cannot cross this boundary)
`double`	`getXmin()` Returns the minimum x position of the lander (the agent cannot cross this boundary)
`double`	`getYmax()` Returns the maximum y position of the lander (the agent cannot cross this boundary)
`double`	`getYmin()` Returns the minimum y position of the lander (the agent cannot cross this boundary)
`static void`	`main(java.lang.String[] args)` This method will launch a visual explorer for the lunar lander domain.
`void`	`setAnginc(double anginc)` Sets how many radians the agent will rotate from its current orientation when a turn/rotate action is applied
`void`	`setAngmax(double angmax)` Sets the maximum rotate angle (in radians) that the lander can be rotated from the vertical orientation in either clockwise or counterclockwise direction.
`void`	`setGravity(double g)` Sets the gravity of the domain
`void`	`setPhysParams(LunarLanderDomain.LLPhysicsParams physParams)`
`void`	`setRf(RewardFunction rf)`
`void`	`setTf(TerminalFunction tf)`
`void`	`setToStandardLunarLander()` Sets the domain to use a standard set of physics and with a standard set of two thrust actions.
`void`	`setVmax(double vmax)` Sets the maximum velocity of the agent (the agent cannot move faster than this value).
`void`	`setXmax(double xmax)` Sets the maximum x position of the lander (the agent cannot cross this boundary)
`void`	`setXmin(double xmin)` Sets the minimum x position of the lander (the agent cannot cross this boundary)
`void`	`setYmax(double ymax)` Sets the maximum y position of the lander (the agent cannot cross this boundary)
`void`	`setYmin(double ymin)` Sets the minimum y position of the lander (the agent cannot cross this boundary)

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - VAR_X
```
public static final java.lang.String VAR_X
```
    Constant for the name of the x position attribute.
    
    See Also:
    
    Constant Field Values
  - VAR_Y
```
public static final java.lang.String VAR_Y
```
    Constant for the name of the y position attribute.
    
    See Also:
    
    Constant Field Values
  - VAR_VX
```
public static final java.lang.String VAR_VX
```
    Constant for the name of the x velocity attribute.
    
    See Also:
    
    Constant Field Values
  - VAR_VY
```
public static final java.lang.String VAR_VY
```
    Constant for the name of the y velocity attribute.
    
    See Also:
    
    Constant Field Values
  - VAR_ANGLE
```
public static final java.lang.String VAR_ANGLE
```
    Constant for the name of the angle of orientation attribute.
    
    See Also:
    
    Constant Field Values
  - VAR_LEFT
```
public static final java.lang.String VAR_LEFT
```
    Constant for the name of the left boundary attribute for rectangular obstacles and landing pads
    
    See Also:
    
    Constant Field Values
  - VAR_RIGHT
```
public static final java.lang.String VAR_RIGHT
```
    Constant for the name of the right boundary attribute for rectangular obstacles and landing pads
    
    See Also:
    
    Constant Field Values
  - VAR_BOTTOM
```
public static final java.lang.String VAR_BOTTOM
```
    Constant for the name of the bottom boundary attribute for rectangular obstacles and landing pads
    
    See Also:
    
    Constant Field Values
  - VAR_TOP
```
public static final java.lang.String VAR_TOP
```
    Constant for the name of the top boundary attribute for rectangular obstacles and landing pads
    
    See Also:
    
    Constant Field Values
  - CLASS_AGENT
```
public static final java.lang.String CLASS_AGENT
```
    Constant for the name of the agent OO-MDP class
    
    See Also:
    
    Constant Field Values
  - CLASS_OBSTACLE
```
public static final java.lang.String CLASS_OBSTACLE
```
    Constant for the name of the obstacle OO-MDP class
    
    See Also:
    
    Constant Field Values
  - CLASS_PAD
```
public static final java.lang.String CLASS_PAD
```
    Constant for the name of the goal landing pad OO-MDP class
    
    See Also:
    
    Constant Field Values
  - ACTION_TURN_LEFT
```
public static final java.lang.String ACTION_TURN_LEFT
```
    Constant for the name of the turn/rotate left/counterclockwise action
    
    See Also:
    
    Constant Field Values
  - ACTION_TURN_RIGHT
```
public static final java.lang.String ACTION_TURN_RIGHT
```
    Constant for the name of the turn/rotate right/clockwise action
    
    See Also:
    
    Constant Field Values
  - ACTION_THRUST
```
public static final java.lang.String ACTION_THRUST
```
    Constant for the base name of thrust actions. Each thrust action will have a number appended to this name to indicate which thrust action it is.
    
    See Also:
    
    Constant Field Values
  - ACTION_IDLE
```
public static final java.lang.String ACTION_IDLE
```
    Constant for the name of the idle action which causes the agent to do nothing by drift for a time step
    
    See Also:
    
    Constant Field Values
  - PF_ON_PAD
```
public static final java.lang.String PF_ON_PAD
```
    Constant for the name of the propositional function that indicates whether the agent/lander is on a landing pad
    
    See Also:
    
    Constant Field Values
  - PF_TOUTCH_PAD
```
public static final java.lang.String PF_TOUTCH_PAD
```
    Constant for the name of the propositional function that indicates whether the agent/lander is *touching* a landing pad. Note that the agent may be touching the pad on the side of its boundaries and therefore not be landed on it. However if the agent is landed on the pad, then they will also be touching it.
    
    See Also:
    
    Constant Field Values
  - PF_TOUCH_SURFACE
```
public static final java.lang.String PF_TOUCH_SURFACE
```
    Constant for the name of the propositional function that indicates whether the agent/lander is touching an obstacle surface.
    
    See Also:
    
    Constant Field Values
  - PF_ON_GROUND
```
public static final java.lang.String PF_ON_GROUND
```
    Constant for the name of the propositional function that indicates whether the agent/lander is on the ground
    
    See Also:
    
    Constant Field Values
  - thrustValues
```
protected java.util.List<java.lang.Double> thrustValues
```
    List of the thrust forces for each thrust action
  - physParams
```
protected LunarLanderDomain.LLPhysicsParams physParams
```
    An object for holding the physics parameters of this domain.
  - rf
```
protected RewardFunction rf
```
  - tf
```
protected TerminalFunction tf
```
- Constructor Detail
  - LunarLanderDomain
```
public LunarLanderDomain()
```
    Initializes with no thrust actions set.
- Method Detail
  - addThrustActionWithThrust
```
public void addThrustActionWithThrust(double t)
```
    Adds a thrust action with thrust force t
    
    Parameters:
    
    t - the thrust of the thrust force to add
  - getPhysParams
```
public LunarLanderDomain.LLPhysicsParams getPhysParams()
```
  - setPhysParams
```
public void setPhysParams(LunarLanderDomain.LLPhysicsParams physParams)
```
  - setGravity
```
public void setGravity(double g)
```
    Sets the gravity of the domain
    
    Parameters:
    
    g - the force of gravity
  - getXmin
```
public double getXmin()
```
    Returns the minimum x position of the lander (the agent cannot cross this boundary)
    
    Returns:
    
    the minimum x position of the lander (the agent cannot cross this boundary)
  - setXmin
```
public void setXmin(double xmin)
```
    Sets the minimum x position of the lander (the agent cannot cross this boundary)
    
    Parameters:
    
    xmin - the minimum x position of the lander (the agent cannot cross this boundary)
  - getXmax
```
public double getXmax()
```
    Returns the maximum x position of the lander (the agent cannot cross this boundary)
    
    Returns:
    
    the maximum x position of the lander (the agent cannot cross this boundary)
  - setXmax
```
public void setXmax(double xmax)
```
    Sets the maximum x position of the lander (the agent cannot cross this boundary)
    
    Parameters:
    
    xmax - the maximum x position of the lander (the agent cannot cross this boundary)
  - getYmin
```
public double getYmin()
```
    Returns the minimum y position of the lander (the agent cannot cross this boundary)
    
    Returns:
    
    the minimum y position of the lander (the agent cannot cross this boundary)
  - setYmin
```
public void setYmin(double ymin)
```
    Sets the minimum y position of the lander (the agent cannot cross this boundary)
    
    Parameters:
    
    ymin - the minimum y position of the lander (the agent cannot cross this boundary)
  - getYmax
```
public double getYmax()
```
    Returns the maximum y position of the lander (the agent cannot cross this boundary)
    
    Returns:
    
    the maximum y position of the lander (the agent cannot cross this boundary)
  - setYmax
```
public void setYmax(double ymax)
```
    Sets the maximum y position of the lander (the agent cannot cross this boundary)
    
    Parameters:
    
    ymax - the maximum y position of the lander (the agent cannot cross this boundary)
  - getVmax
```
public double getVmax()
```
    Returns the maximum velocity of the agent (the agent cannot move faster than this value).
    
    Returns:
    
    the maximum velocity of the agent (the agent cannot move faster than this value).
  - setVmax
```
public void setVmax(double vmax)
```
    Sets the maximum velocity of the agent (the agent cannot move faster than this value).
    
    Parameters:
    
    vmax - the maximum velocity of the agent (the agent cannot move faster than this value).
  - getAngmax
```
public double getAngmax()
```
    Returns the maximum rotate angle (in radians) that the lander can be rotated from the vertical orientation in either clockwise or counterclockwise direction.
    
    Returns:
    
    the maximum rotate angle (in radians) that the lander can be rotated
  - setAngmax
```
public void setAngmax(double angmax)
```
    Sets the maximum rotate angle (in radians) that the lander can be rotated from the vertical orientation in either clockwise or counterclockwise direction.
    
    Parameters:
    
    angmax - the maximum rotate angle (in radians) that the lander can be rotated
  - getAnginc
```
public double getAnginc()
```
    Returns how many radians the agent will rotate from its current orientation when a turn/rotate action is applied
    
    Returns:
    
    how many radians the agent will rotate from its current orientation when a turn/rotate action is applied
  - setAnginc
```
public void setAnginc(double anginc)
```
    Sets how many radians the agent will rotate from its current orientation when a turn/rotate action is applied
    
    Parameters:
    
    anginc - how many radians the agent will rotate from its current orientation when a turn/rotate action is applied
  - getTf
```
public TerminalFunction getTf()
```
  - setTf
```
public void setTf(TerminalFunction tf)
```
  - getRf
```
public RewardFunction getRf()
```
  - setRf
```
public void setRf(RewardFunction rf)
```
  - setToStandardLunarLander
```
public void setToStandardLunarLander()
```
    Sets the domain to use a standard set of physics and with a standard set of two thrust actions.
    gravity = -0.2
    xmin = 0
    xmax = 100
    ymin = 0
    ymax = 50
    max velocity component speed = 4
    maximum angle of rotation = pi/4
    change in angle from turning = pi/20
    thrust1 force = 0.32
    thrust2 force = 0.2 (opposite gravity)
  - addStandardThrustActions
```
public void addStandardThrustActions()
```
    Adds two standard thrust actions.
    thrust1 force = 0.32
    thrust2 force = 0.2 (opposite gravity)
  - generatePfs
```
public java.util.List<PropositionalFunction> generatePfs()
```
  - generateDomain
```
public OOSADomain generateDomain()
```
    Description copied from interface: DomainGenerator
    
    Returns a newly instanced Domain object
    
    Specified by:
    
    generateDomain in interface DomainGenerator
    
    Returns:
    
    the newly instantiated Domain object.
  - main
```
public static void main(java.lang.String[] args)
```
    This method will launch a visual explorer for the lunar lander domain. It will use the default physics, start the agent on the left side of the world with a landing pad on the right and an obstacle in between. The agent is controlled with the following keys:
    w: heavy thrust
    s: weak thrust
    a: turn/rotate counterclockwise
    d: turn/rotate clockwise
    x: idle (drift for one time step)
    If you pass the main method "t" as an argument, a terminal explorer will be used instead of a visual explorer.
    
    Parameters:
    
    args - optionally pass "t" asn argument to use a terminal explorer instead of a visual explorer.

Class LunarLanderDomain

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

VAR_X

VAR_Y

VAR_VX

VAR_VY

VAR_ANGLE

VAR_LEFT

VAR_RIGHT

VAR_BOTTOM

VAR_TOP

CLASS_AGENT

CLASS_OBSTACLE

CLASS_PAD

ACTION_TURN_LEFT

ACTION_TURN_RIGHT

ACTION_THRUST

ACTION_IDLE

PF_ON_PAD

PF_TOUTCH_PAD

PF_TOUCH_SURFACE

PF_ON_GROUND

thrustValues

physParams

rf

tf

Constructor Detail

LunarLanderDomain

Method Detail

addThrustActionWithThrust

getPhysParams

setPhysParams

setGravity

getXmin

setXmin

getXmax

setXmax

getYmin

setYmin

getYmax

setYmax

getVmax

setVmax

getAngmax

setAngmax

getAnginc

setAnginc

getTf

setTf

getRf

setRf

setToStandardLunarLander

addStandardThrustActions

generatePfs

generateDomain

main