class DatasetGenerator(object):
def __init__(self,pendulum_mass, cart_mass,pendulum_length):
self.pendulum_mass = pendulum_mass
self.cart_mass=cart_mass
self.pendulum_length = pendulum_length
self.model = InvertedPendulumModel(self.pendulum_length,self.pendulum_mass,self.cart_mass)
mass = cart_mass + pendulum_mass
self.force = mass*10
def generateRandomDataset(self,tests_number):
result_dataset = Dataset()
for i in range(tests_number):
situation = self._get_random_situation()
conteract = self._evaluate_model_counteraction(situation)
result_dataset.add_case(list(situation),conteract)
return result_dataset
def _get_random_situation(self):
angular_position = random.uniform(*self._get_angle_range())
angular_velocity = random.uniform(*self._get_angular_velocity_range())
cart_position = random.uniform(*self._get_position_range())
cart_velocity = random.uniform(*self._get_velocity_range())
return angular_position,angular_velocity,cart_position,cart_velocity
def _evaluate_model_counteraction(self, situation):
dt = 0.01
self.model.set_state(*situation)
self.model.apply(0, dt)
new_state = self.model.get_state()
if self.good_positioning(new_state[0]):
if self.moving_too_fast(new_state[3]):
return -self.sign(new_state[3])*self.force
else:
return self.sign(new_state[2])*self.force
elif new_state[0] > 0:
return self.force
else:
return -self.force
def _get_velocity_range(self):
return [-0.5,0.5]
def _get_position_range(self):
return [-20,20]
def _get_angle_range(self):
return [-0.785,0.785] #pi/4
def _get_angular_velocity_range(self):
return [-3.14,3.14]
def sign(self,x):
return 1 if x >= 0 else -1
def good_positioning(self,angular_position):
return math.fabs(angular_position)<3*0.0174532925
def moving_too_fast(self,cart_velocity):
return math.fabs(cart_velocity) > self.force / 10
class ConsoleRunner(object):
def __init__(self, debug, max_steps, name, angular_position):
self.set_pendulum_model(angular_position)
self.simulation = Simulation(self.pendulumModel,
self.__create_controller(name),
sleeping_mode=False)
self.observer = ExecutionMonitor(debug, max_steps, self.simulation)
self.pendulumModel.register_observer(self.observer)
def learn(self, iterations):
self.simulation.controller.learn(iterations)
def run(self, speed_multiplier, dt):
self.simulation.run(speed_multiplier, dt)
def set_pendulum_model(self, angular_position):
self.pendulumModel = InvertedPendulumModel(
pendulum_length=PENDULUM_LENGTH,
pendulum_mass=PENDULUM_MASS,
cart_mass=CART_MASS)
self.pendulumModel.set_state(angular_position=angular_position,
angular_velocity=ANGULAR_VELOCITY,
cart_position=CART_POSITION,
cart_velocity=CART_VELOCITY)
def __create_controller(self, name):
return ControllersUtil.get_controller(name)(PENDULUM_LENGTH,
PENDULUM_MASS, CART_MASS)
def results(self):
return self.observer.results()
class ConsoleRunner(object):
def __init__(self, debug, max_steps, name, angular_position):
self.set_pendulum_model(angular_position)
self.simulation = Simulation(self.pendulumModel, self.__create_controller(name), sleeping_mode=False)
self.observer = ExecutionMonitor(debug, max_steps, self.simulation)
self.pendulumModel.register_observer(self.observer)
def learn(self, iterations):
self.simulation.controller.learn(iterations)
def run(self, speed_multiplier, dt):
self.simulation.run(speed_multiplier, dt)
def set_pendulum_model(self, angular_position):
self.pendulumModel = InvertedPendulumModel(
pendulum_length=PENDULUM_LENGTH, pendulum_mass=PENDULUM_MASS, cart_mass=CART_MASS
)
self.pendulumModel.set_state(
angular_position=angular_position,
angular_velocity=ANGULAR_VELOCITY,
cart_position=CART_POSITION,
cart_velocity=CART_VELOCITY,
)
def __create_controller(self, name):
return ControllersUtil.get_controller(name)(PENDULUM_LENGTH, PENDULUM_MASS, CART_MASS)
def results(self):
return self.observer.results()
class DatasetGenerator(object):
def __init__(self, pendulum_mass, cart_mass, pendulum_length):
self.pendulum_mass = pendulum_mass
self.cart_mass = cart_mass
self.pendulum_length = pendulum_length
self.model = InvertedPendulumModel(self.pendulum_length,
self.pendulum_mass, self.cart_mass)
mass = cart_mass + pendulum_mass
self.force = mass * 10
def generateRandomDataset(self, tests_number):
result_dataset = Dataset()
for i in range(tests_number):
situation = self._get_random_situation()
conteract = self._evaluate_model_counteraction(situation)
result_dataset.add_case(list(situation), conteract)
return result_dataset
def _get_random_situation(self):
angular_position = random.uniform(*self._get_angle_range())
angular_velocity = random.uniform(*self._get_angular_velocity_range())
cart_position = random.uniform(*self._get_position_range())
cart_velocity = random.uniform(*self._get_velocity_range())
return angular_position, angular_velocity, cart_position, cart_velocity
def _evaluate_model_counteraction(self, situation):
dt = 0.01
self.model.set_state(*situation)
self.model.apply(0, dt)
new_state = self.model.get_state()
if self.good_positioning(new_state[0]):
if self.moving_too_fast(new_state[3]):
return -self.sign(new_state[3]) * self.force
else:
return self.sign(new_state[2]) * self.force
elif new_state[0] > 0:
return self.force
else:
return -self.force
def _get_velocity_range(self):
return [-0.5, 0.5]
def _get_position_range(self):
return [-20, 20]
def _get_angle_range(self):
return [-0.785, 0.785] #pi/4
def _get_angular_velocity_range(self):
return [-3.14, 3.14]
def sign(self, x):
return 1 if x >= 0 else -1
def good_positioning(self, angular_position):
return math.fabs(angular_position) < 3 * 0.0174532925
def moving_too_fast(self, cart_velocity):
return math.fabs(cart_velocity) > self.force / 10
def __init__(self,pendulum_mass, cart_mass,pendulum_length):
self.pendulum_mass = pendulum_mass
self.cart_mass=cart_mass
self.pendulum_length = pendulum_length
self.model = InvertedPendulumModel(self.pendulum_length,self.pendulum_mass,self.cart_mass)
mass = cart_mass + pendulum_mass
self.force = mass*10
self.radian = 0.0174532925
def set_pendulum_model(self, angular_position):
self.pendulumModel = InvertedPendulumModel(
pendulum_length=PENDULUM_LENGTH,
pendulum_mass=PENDULUM_MASS,
cart_mass=CART_MASS)
self.pendulumModel.set_state(angular_position=angular_position,
angular_velocity=ANGULAR_VELOCITY,
cart_position=CART_POSITION,
cart_velocity=CART_VELOCITY)
def __create_scene(self):
self.pendulumView = PendulumView(
self.width(),
self.height(),
visible_meters=float(self.ui.visibility.text()),
length=float(self.ui.pendulumLength.text()),
mass=float(self.ui.pendulumMass.text()))
self.ui.view.setScene(self.pendulumView)
self.pendulumModel = InvertedPendulumModel(
pendulum_length=float(self.ui.pendulumLength.text()),
pendulum_mass=float(self.ui.pendulumMass.text()),
cart_mass=float(self.ui.cartMass.text()))
self.pendulumModel.register_observer(self.pendulumView)
self.set_pendulum_model()
def __init__(self,pendulum_mass, cart_mass,pendulum_length):
self.pendulum_mass = pendulum_mass
self.cart_mass=cart_mass
self.pendulum_length = pendulum_length
self.model = InvertedPendulumModel(self.pendulum_length,self.pendulum_mass,self.cart_mass)
mass = cart_mass + pendulum_mass
self.force = mass*10
def __init__(self, pendulum_length, pendulum_mass, cart_mass):
super(ReinforcedController, self).__init__(pendulum_length,
pendulum_mass, cart_mass)
self.ranges = self.get_ranges()
self.model = InvertedPendulumModel(self.pendulum_length,
self.pendulum_mass, self.cart_mass)
self.force_granularity = 2
self.environment = CartEnvironment(
self.model, *self.ranges, force_granularity=self.force_granularity)
def set_pendulum_model(self, angular_position):
self.pendulumModel = InvertedPendulumModel(
pendulum_length=PENDULUM_LENGTH, pendulum_mass=PENDULUM_MASS, cart_mass=CART_MASS
)
self.pendulumModel.set_state(
angular_position=angular_position,
angular_velocity=ANGULAR_VELOCITY,
cart_position=CART_POSITION,
cart_velocity=CART_VELOCITY,
)
def __create_scene(self):
self.pendulumView = PendulumView(
self.width(),
self.height(),
visible_meters=float(self.ui.visibility.text()),
length=float(self.ui.pendulumLength.text()),
mass=float(self.ui.pendulumMass.text()))
self.ui.view.setScene(self.pendulumView)
self.pendulumModel = InvertedPendulumModel(
pendulum_length=float(self.ui.pendulumLength.text()),
pendulum_mass=float(self.ui.pendulumMass.text()),
cart_mass=float(self.ui.cartMass.text()))
self.pendulumModel.register_observer(self.pendulumView)
self.set_pendulum_model()
class MainWindow(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.ui.view.setRenderHint(QPainter.Antialiasing)
self.__setup_ui()
self.__create_scene()
@pyqtSlot()
def on_run_clicked(self):
self.__set_widget_state(running=True)
self.set_pendulum_model()
self.simulation.run(int(self.ui.speedMultiplier.text()),float(self.ui.dt.text()))
@pyqtSlot()
def on_learn_clicked(self):
self.ui.run.setEnabled(True)
self.__create_scene()
self.simulation = Simulation(self.pendulumModel, self.__create_controller())
self.simulation.controller.learn(int(self.ui.iterations.text()))
@pyqtSlot()
def on_stop_clicked(self):
self.simulation.stop()
self.__set_widget_state(running=False)
@pyqtSlot()
def on_visibility_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumLength_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumMass_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumAngle_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_cartPosition_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_updateButton_clicked(self):
self.__create_scene()
def set_pendulum_model(self):
self.pendulumModel.set_state(
angular_position=float(self.ui.pendulumAngle.text()) * pi / 180.0,
angular_velocity=float(self.ui.angularVelocity.text()),
cart_position=float(self.ui.cartPosition.text()),
cart_velocity=float(self.ui.cartSpeed.text())
)
def __create_scene(self):
self.pendulumView = PendulumView(
self.width(),
self.height(),
visible_meters=float(self.ui.visibility.text()),
length=float(self.ui.pendulumLength.text()),
mass=float(self.ui.pendulumMass.text())
)
self.ui.view.setScene(self.pendulumView)
self.pendulumModel = InvertedPendulumModel(
pendulum_length=float(self.ui.pendulumLength.text()),
pendulum_mass=float(self.ui.pendulumMass.text()),
cart_mass=float(self.ui.cartMass.text())
)
self.pendulumModel.register_observer(self.pendulumView)
self.set_pendulum_model()
def __create_controller(self):
return ControllersUtil.get_controller(str(self.ui.controller.currentText()))(
float(self.ui.pendulumLength.text()),
float(self.ui.pendulumMass.text()),
float(self.ui.cartMass.text())
)
def __set_widget_state(self, running):
self.ui.allSettings.setEnabled(not running)
self.ui.stop.setEnabled(running)
self.ui.run.setEnabled(not running)
def __setup_ui(self):
self.ui.controller.addItems(ControllersUtil.registered_controllers())
self.ui.controller.setCurrentIndex(self.ui.controller.findText(ControllersUtil.default_controller()))
def resizeEvent(self, QResizeEvent):
self.ui.view.fitInView(self.pendulumView.sceneRect(), Qt.KeepAspectRatio)
def show(self):
QMainWindow.show(self)
self.resizeEvent(None)
def closeEvent(self, QCloseEvent):
sys.exit(0)
class DatasetBlindGenerator(object):
def __init__(self,pendulum_mass, cart_mass,pendulum_length):
self.pendulum_mass = pendulum_mass
self.cart_mass=cart_mass
self.pendulum_length = pendulum_length
self.model = InvertedPendulumModel(self.pendulum_length,self.pendulum_mass,self.cart_mass)
mass = cart_mass + pendulum_mass
self.force = mass*10
self.radian = 0.0174532925
def get_force(self):
return self.force
def generateRandomDataset(self,tests_number):
result_dataset = Dataset()
for i in range(tests_number):
situations = self._get_random_situations()
for situation in situations:
model_response = self._evaluate_model_response(situation)
result_dataset.add_case(list(situation),model_response)
return result_dataset
def _get_random_situations(self):
angular_position = random.uniform(*self._get_angle_range())
angular_velocity = random.uniform(*self._get_angular_velocity_range())
cart_position = random.uniform(*self._get_position_range())
cart_velocity = random.uniform(*self._get_velocity_range())
return [(angular_position,angular_velocity,cart_position,cart_velocity, self.force),
(angular_position,angular_velocity,cart_position,cart_velocity, -self.force)]
def _evaluate_model_response(self, situation):
dt = 0.01
angular_position = situation[0]
angular_velocity = situation[1]
cart_position = situation[2]
cart_velocity = situation[3]
force = situation[4]
self.model.set_state(angular_position,angular_velocity,cart_position,cart_velocity)
self.model.apply(force, dt)
new_state = self.model.get_state()
new_angular_position = new_state[0]
#return self.normalize(new_angular_position)
return new_angular_position
def _get_velocity_range(self):
return [-0.5,0.5]
def _get_position_range(self):
return [-20,20]
def _get_angle_range(self):
return [-0.785,0.785] #pi/4
def _get_angular_velocity_range(self):
return [-3.14,3.14]
def sign(self,x):
return 1 if x >= 0 else -1
def normalize(self, rad):
return int((rad / self.radian))
def get_radian(self):
return self.radian
class MainWindow(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.ui.view.setRenderHint(QPainter.Antialiasing)
self.__setup_ui()
self.__create_scene()
@pyqtSlot()
def on_run_clicked(self):
self.__set_widget_state(running=True)
self.set_pendulum_model()
self.simulation.run(int(self.ui.speedMultiplier.text()),
float(self.ui.dt.text()))
@pyqtSlot()
def on_learn_clicked(self):
self.ui.run.setEnabled(True)
self.__create_scene()
self.simulation = Simulation(self.pendulumModel,
self.__create_controller())
self.simulation.controller.learn(int(self.ui.iterations.text()))
@pyqtSlot()
def on_stop_clicked(self):
self.simulation.stop()
self.__set_widget_state(running=False)
@pyqtSlot()
def on_visibility_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumLength_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumMass_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_pendulumAngle_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_cartPosition_lostFocus(self):
self.__create_scene()
@pyqtSlot()
def on_updateButton_clicked(self):
self.__create_scene()
def set_pendulum_model(self):
self.pendulumModel.set_state(
angular_position=float(self.ui.pendulumAngle.text()) * pi / 180.0,
angular_velocity=float(self.ui.angularVelocity.text()),
cart_position=float(self.ui.cartPosition.text()),
cart_velocity=float(self.ui.cartSpeed.text()))
def __create_scene(self):
self.pendulumView = PendulumView(
self.width(),
self.height(),
visible_meters=float(self.ui.visibility.text()),
length=float(self.ui.pendulumLength.text()),
mass=float(self.ui.pendulumMass.text()))
self.ui.view.setScene(self.pendulumView)
self.pendulumModel = InvertedPendulumModel(
pendulum_length=float(self.ui.pendulumLength.text()),
pendulum_mass=float(self.ui.pendulumMass.text()),
cart_mass=float(self.ui.cartMass.text()))
self.pendulumModel.register_observer(self.pendulumView)
self.set_pendulum_model()
def __create_controller(self):
return ControllersUtil.get_controller(
str(self.ui.controller.currentText()))(
float(self.ui.pendulumLength.text()),
float(self.ui.pendulumMass.text()),
float(self.ui.cartMass.text()))
def __set_widget_state(self, running):
self.ui.allSettings.setEnabled(not running)
self.ui.stop.setEnabled(running)
self.ui.run.setEnabled(not running)
def __setup_ui(self):
self.ui.controller.addItems(ControllersUtil.registered_controllers())
self.ui.controller.setCurrentIndex(
self.ui.controller.findText(ControllersUtil.default_controller()))
def resizeEvent(self, QResizeEvent):
self.ui.view.fitInView(self.pendulumView.sceneRect(),
Qt.KeepAspectRatio)
def show(self):
QMainWindow.show(self)
self.resizeEvent(None)
def closeEvent(self, QCloseEvent):
sys.exit(0)
