shark::DoublePole Class Reference

#include <shark/ObjectiveFunctions/Benchmarks/PoleSimulators/DoublePole.h>

Public Member Functions
unsigned	noVars () const
	Number of variables. More...
	DoublePole (bool markovian, bool normalize=true)
void	getState (RealVector &v)
	Place m_state in a vector. More...
void	init (double state2init=0.07)
	Initialize with specific angle for large pole. More...
void	initDegree (double state2init)
	Initialize with specific angle for large pole. More...
void	init (double a, double b, double c, double d, double e=0., double f=0.)
	Initialize full m_state. More...
bool	failure ()
	Returns true when this pole is in an illegal position. More...
double	getJiggle ()
	Return "jiggle", abstract representation of how much the the cart oscillates. More...
void	move (double output)
	Move the pole with some force. More...

Detailed Description

Definition at line 48 of file DoublePole.h.

Constructor & Destructor Documentation

DoublePole()

shark::DoublePole::DoublePole ( bool  markovian, bool  normalize = true  )

inline

Parameters

markovian	Whether to return velocities in getState
normalize	Whether to normalize return values in getState

Definition at line 60 of file DoublePole.h.

Member Function Documentation

failure()

bool shark::DoublePole::failure ( )

inline

Returns true when this pole is in an illegal position.

Definition at line 129 of file DoublePole.h.

Referenced by shark::GruauPole::balanceFit(), shark::NonMarkovPole::eval(), shark::MarkovPole< HiddenNeuron, OutputNeuron >::eval(), shark::GruauPole::generalFit(), and shark::GruauPole::gruauFit().

getJiggle()

double shark::DoublePole::getJiggle ( )

inline

Return "jiggle", abstract representation of how much the the cart oscillates.

Definition at line 143 of file DoublePole.h.

Referenced by shark::GruauPole::gruauFit().

getState()

void shark::DoublePole::getState ( RealVector &  v )

inline

Place m_state in a vector.

Parameters

v	vector to place m_state in (assumed to be correct size already)

Definition at line 82 of file DoublePole.h.

Referenced by shark::GruauPole::balanceFit(), shark::NonMarkovPole::eval(), shark::MarkovPole< HiddenNeuron, OutputNeuron >::eval(), shark::GruauPole::generalFit(), and shark::GruauPole::gruauFit().

init() [1/2]

void shark::DoublePole::init ( double  state2init = 0.07 )

inline

Initialize with specific angle for large pole.

Parameters

state2init

initial pole angle (in radians)

Definition at line 101 of file DoublePole.h.

Referenced by shark::GruauPole::balanceFit(), shark::NonMarkovPole::eval(), shark::MarkovPole< HiddenNeuron, OutputNeuron >::eval(), shark::GruauPole::generalFit(), shark::GruauPole::gruauFit(), and initDegree().

init() [2/2]

void shark::DoublePole::init ( double  a, double  b, double  c, double  d, double  e = 0., double  f = 0.  )

inline

Initialize full m_state.

Parameters

a	initial cart position
b	initial cart velocity
c	initial large pole angle (in radians)
d	initial large pole angular velocity
e	initial small pole angle (in radians)
f	initial small pole angular velocity

Definition at line 119 of file DoublePole.h.

initDegree()

void shark::DoublePole::initDegree ( double  state2init )

inline

Initialize with specific angle for large pole.

Parameters

state2init

initial pole angle (in degrees)

Definition at line 108 of file DoublePole.h.

References init().

move()

void shark::DoublePole::move ( double  output )

inline

Move the pole with some force.

Parameters

output

Force to apply. Expects values in [0,1], where values below 0.5 indicate applying force towards the left side and values above indicate force towards the right.

Definition at line 149 of file DoublePole.h.

Referenced by shark::GruauPole::balanceFit(), shark::NonMarkovPole::eval(), shark::MarkovPole< HiddenNeuron, OutputNeuron >::eval(), shark::GruauPole::generalFit(), and shark::GruauPole::gruauFit().

noVars()

unsigned shark::DoublePole::noVars ( ) const

inline

Number of variables.

Definition at line 52 of file DoublePole.h.

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The documentation for this class was generated from the following file:

• include/shark/ObjectiveFunctions/Benchmarks/PoleSimulators/DoublePole.h