burlap.domain.singleagent.cartpole

Class InvertedPendulum.ForceAction

java.lang.Object

burlap.oomdp.singleagent.Action

burlap.oomdp.singleagent.common.SimpleAction

burlap.domain.singleagent.cartpole.InvertedPendulum.ForceAction

All Implemented Interfaces:

FullActionModel

Enclosing class:

InvertedPendulum

public class InvertedPendulum.ForceAction
extends SimpleAction
implements FullActionModel

An action that applies a given force to the cart + uniform random noise in the range defined in the InvertedPendulum.physParams data member.

Author:

James MacGlashan

Nested Class Summary

Nested classes/interfaces inherited from class burlap.oomdp.singleagent.common.SimpleAction

SimpleAction.SimpleDeterministicAction

Nested classes/interfaces inherited from interface burlap.oomdp.singleagent.FullActionModel

FullActionModel.FullActionModelHelper

Field Summary

Fields

Modifier and Type	Field and Description
protected double	baseForce The base noise to which noise will be added.
protected InvertedPendulum.IPPhysicsParams	physParams The physics parameters to use

Fields inherited from class burlap.oomdp.singleagent.Action

actionObservers, domain, name

Constructor Summary

Constructors

Constructor and Description
InvertedPendulum.ForceAction(java.lang.String name, Domain domain, double force, InvertedPendulum.IPPhysicsParams physParams) Initializes the force action

Method Summary

Methods

Modifier and Type	Method and Description
java.util.List<TransitionProbability>	getTransitions(State s, GroundedAction groundedAction) Returns the transition probabilities for applying this action in the given state with the given set of parameters.
protected State	performActionHelper(State s, GroundedAction groundedAction) This method determines what happens when an action is applied in the given state with the given parameters.

Methods inherited from class burlap.oomdp.singleagent.common.SimpleAction

applicableInState, getAllApplicableGroundedActions, getAssociatedGroundedAction, isParameterized, isPrimitive

Methods inherited from class burlap.oomdp.singleagent.Action

addActionObserver, clearAllActionsObservers, deterministicTransition, equals, getAllApplicableGroundedActionsFromActionList, getDomain, getGroundedAction, getName, hashCode, performAction, performInEnvironment

Methods inherited from class java.lang.Object

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

Field Detail

baseForce

protected double baseForce

The base noise to which noise will be added.

physParams

protected InvertedPendulum.IPPhysicsParams physParams

The physics parameters to use

Constructor Detail

InvertedPendulum.ForceAction

public InvertedPendulum.ForceAction(java.lang.String name,
                            Domain domain,
                            double force,
                            InvertedPendulum.IPPhysicsParams physParams)

Initializes the force action

Parameters:

name - the name of the action

domain - the domain object to which the action will belong.

force - the base force this action applies; noise will be added to this force according to the InvertedPendulum.physParams data member.

physParams - the InvertedPendulum.IPPhysicsParams object specifying the physics to use for movement

Method Detail

performActionHelper

protected State performActionHelper(State s,
                        GroundedAction groundedAction)

Description copied from class: Action

This method determines what happens when an action is applied in the given state with the given parameters. The State object s may be directly modified in this method since the parent method (Action.performAction(burlap.oomdp.core.states.State, GroundedAction) first copies the input state to pass to this helper method. The resulting state (which may be s) should then be returned.

Specified by:

performActionHelper in class Action

Parameters:

s - the state to perform the action on

groundedAction - the GroundedAction specifying the parameters to use

Returns:

the resulting State from performing this action

getTransitions

public java.util.List<TransitionProbability> getTransitions(State s,
                                                   GroundedAction groundedAction)

Description copied from interface: FullActionModel

Returns the transition probabilities for applying this action in the given state with the given set of parameters. Transition probabilities are specified as list of TransitionProbability objects. The list is only required to contain transitions with non-zero probability.

Specified by:

getTransitions in interface FullActionModel

Parameters:

s - the state from which the transition probabilities when applying this action will be returned.

groundedAction - the GroundedAction specifying the parameters to use

Returns:

a List of transition probabilities for applying this action in the given state with the given set of parameters