shark::SinglePole Class Reference

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

Public Member Functions
unsigned	noVars () const
	Number of variables.
	SinglePole (bool markovian, bool normalize=true)
void	initDegree (double state2init)
	Initialize with specific pole angle.
void	init (double state2init=0.07)
	Initialize with specific pole angle.
void	init (double a, double b, double c, double d)
	Initialize full m_state.
void	getState (RealVector &v)
	Place m_state in a vector.
bool	failure ()
	Returns true when this pole is in an illegal position.
void	move (double output)
	Move the pole with some force.

Static Public Member Functions
static double	degrad (double x)
	Convert degrees to radians.

Detailed Description

Definition at line 50 of file SinglePole.h.

Constructor & Destructor Documentation

SinglePole()

shark::SinglePole::SinglePole ( 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 67 of file SinglePole.h.

Member Function Documentation

degrad()

static double shark::SinglePole::degrad ( double  x )

inlinestatic

Convert degrees to radians.

Definition at line 54 of file SinglePole.h.

Referenced by failure().

failure()

bool shark::SinglePole::failure ( )

inline

Returns true when this pole is in an illegal position.

Definition at line 128 of file SinglePole.h.

References degrad().

getState()

void shark::SinglePole::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 113 of file SinglePole.h.

init() [1/2]

void shark::SinglePole::init ( double  a, double  b, double  c, double  d  )

inline

Initialize full m_state.

Parameters

a	initial cart position
b	initial cart velocity
c	initial pole angle (in radians)
d	initial pole angular velocity

Definition at line 104 of file SinglePole.h.

init() [2/2]

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

inline

Initialize with specific pole angle.

Parameters

state2init

initial pole angle (in radians)

Definition at line 94 of file SinglePole.h.

Referenced by initDegree().

initDegree()

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

inline

Initialize with specific pole angle.

Parameters

state2init

initial pole angle (in degrees)

Definition at line 87 of file SinglePole.h.

References init().

move()

void shark::SinglePole::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 137 of file SinglePole.h.

noVars()

unsigned shark::SinglePole::noVars ( ) const

inline

Number of variables.

Definition at line 59 of file SinglePole.h.

---

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

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