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samindaasamindaa
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added RLLibViz configure file
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‎simulation/NonMarkovPoleBalancing.h‎

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/*
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* NonMarkovPoleBalancing.h
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*
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* Created on: Oct 19, 2013
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* Author: sam
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*/
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#ifndef NONMARKOVPOLEBALANCING_H_
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#define NONMARKOVPOLEBALANCING_H_
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#include "Environment.h"
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/**
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* Incremental Evolution of Complex General Behavior
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* Faustino Gomez and Risto Miikkulainen, 1996
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*
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*/
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class NonMarkovPoleBalancing: public Environment<float>
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{
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protected:
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int nbUnjointedPoles;
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float stepTime; // s
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float x; // m
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float xDot; // ms^{-1}
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float g; // ms^{-2}
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float M; // Kg
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float muc; // coefficient of friction of cart on track
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Range<float>* xRange;
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Range<float>* thetaRange;
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Range<float>* actionRange;
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public:
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DenseVector<float>* theta;
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DenseVector<float>* thetaDot;
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DenseVector<float>* thetaDotDot;
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DenseVector<float>* l; // half length of i^{th} pole
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DenseVector<float>* f; // effective force
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DenseVector<float>* m; // mass of i^{th} pole
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DenseVector<float>* mm; // effective mass
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DenseVector<float>* mup; // coefficient of friction of i^{th} pole's hinge
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public:
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NonMarkovPoleBalancing(const int& nbUnjointedPoles = 1) :
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Environment<float>(1 + nbUnjointedPoles, 3, 1), nbUnjointedPoles(nbUnjointedPoles), stepTime(
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0.01), x(0), xDot(0), g(-9.81), M(1.0), muc(0), xRange(new Range<float>(-2.4f, 2.4f)), actionRange(
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new Range<float>(-10.0f, 10.0f)), theta(new DenseVector<float>(nbUnjointedPoles)), thetaDot(
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new DenseVector<float>(nbUnjointedPoles)), thetaDotDot(
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new DenseVector<float>(nbUnjointedPoles)), l(new DenseVector<float>(nbUnjointedPoles)), f(
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new DenseVector<float>(nbUnjointedPoles)), m(new DenseVector<float>(nbUnjointedPoles)), mm(
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new DenseVector<float>(nbUnjointedPoles)), mup(new DenseVector<float>(nbUnjointedPoles))
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{
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if (nbUnjointedPoles == 2)
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{
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thetaRange = new Range<float>(-15.0f / 180.0f * M_PI, 15.0f / 180.0f * M_PI);
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l->at(0) = 0.5;
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l->at(1) = 0.05;
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m->at(0) = 0.1;
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m->at(1) = 0.01;
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muc = 0.0005f;
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mup->at(0) = mup->at(1) = 0.000002f;
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}
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else
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{
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thetaRange = new Range<float>(-12.0f / 180.0f * M_PI, 12.0f / 180.0f * M_PI);
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l->at(0) = 0.5; // Kg
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m->at(0) = 0.1; // Kg
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muc = 0.0;
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}
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discreteActions->push_back(0, actionRange->min());
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discreteActions->push_back(1, 0.0);
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discreteActions->push_back(2, actionRange->max());
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// subject to change
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continuousActions->push_back(0, 0.0);
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for (int i = 0; i < getVars().dimension(); i++)
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resolutions->at(i) = 6.0;
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}
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~NonMarkovPoleBalancing()
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{
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delete xRange;
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delete thetaRange;
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delete actionRange;
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delete theta;
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delete thetaDot;
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delete thetaDotDot;
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delete l;
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delete f;
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delete m;
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delete mm;
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delete mup;
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}
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private:
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void adjustTheta()
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{
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for (int i = 0; i < nbUnjointedPoles; i++)
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{
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if (theta->at(i) >= M_PI)
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theta->at(i) -= 2.0 * M_PI;
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if (theta->at(i) < -M_PI)
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theta->at(i) += 2.0 * M_PI;
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}
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}
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public:
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void updateRTStep()
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{
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DenseVector<float>& vars = *output->o_tp1;
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vars[0] = (x - xRange->min()) * resolutions->at(0) / xRange->length();
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observations->at(0) = x;
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for (int i = 0; i < nbUnjointedPoles; i++)
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{
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vars[i + 1] = (theta->at(i) - thetaRange->min()) * resolutions->at(i + 1)
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/ thetaRange->length();
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observations->at(1) = theta->at(i);
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}
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}
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void initialize()
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{
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x = 0.0;
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for (int i = 0; i < nbUnjointedPoles; i++)
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theta->at(i) = 0.0f;
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adjustTheta();
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updateRTStep();
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}
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void step(const Action& a)
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{
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float totalEffectiveForce = 0;
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float totalEffectiveMass = 0;
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for (int i = 0; i < nbUnjointedPoles; i++)
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{
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float effectiveForce = 0;
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effectiveForce += m->at(i) * l->at(i) * std::pow(thetaDot->at(i), 2) * ::sin(theta->at(i));
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effectiveForce += 0.75f * m->at(i) * ::cos(theta->at(i))
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* ((mup->at(i) * theta->at(i)) / (m->at(i) * l->at(i)) + g * ::sin(theta->at(i)));
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f->at(i) = effectiveForce;
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mm->at(i) = m->at(i) * (1.0f - 0.75f * std::pow(::cos(theta->at(i)), 2));
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totalEffectiveForce += f->at(i);
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totalEffectiveMass += mm->at(i);
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}
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float torque = actionRange->bound(a.at());
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float xAcc = (torque - muc * Signum::valueOf(xDot) + totalEffectiveForce)
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/ (M + totalEffectiveMass);
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// Update the four state variables, using Euler's method.
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x = xRange->bound(x + xDot * stepTime);
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xDot += xAcc * stepTime;
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for (int i = 0; i < nbUnjointedPoles; i++)
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{
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thetaDotDot->at(i) = -0.75f
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* (xAcc * ::cos(theta->at(i)) + g * ::sin(theta->at(i))
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+ (mup->at(i) * theta->at(i)) / (m->at(i) * l->at(i))) / l->at(i);
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// Update the four state variables, using Euler's method.
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theta->at(i) = thetaRange->bound(theta->at(i) + thetaDot->at(i) * stepTime);
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thetaDot->at(i) += thetaDotDot->at(i) * stepTime;
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}
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adjustTheta();
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updateRTStep();
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}
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bool endOfEpisode() const
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{
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bool value = true;
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for (int i = 0; i < nbUnjointedPoles; i++)
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value *= thetaRange->in(theta->at(i));
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value = value && xRange->in(x);
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return !value;
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}
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float r() const
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{
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float value = 0;
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for (int i = 0; i < nbUnjointedPoles; i++)
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value += ::cos(theta->at(i));
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return value;
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}
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float z() const
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{
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return 0.0;
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}
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};
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#endif /* NONMARKOVPOLEBALANCING_H_ */

‎visualization/RLLibViz/configure‎

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#!/bin/bash
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echo "RLLibVizContinuousGridworld"
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qmake RLLibVizContinuousGridworld.pro
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make
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make clean
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echo "RLLibVizMountainCar"
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qmake RLLibVizMountainCar.pro
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make
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make clean
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echo "RLLibVizSwingPendulum"
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qmake RLLibVizSwingPendulum.pro
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make
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make clean
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rm Makefile

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