class DPendulum:
def __init__(self):
self.pendulum = Pendulum(1)
self.pendulum.DT = DT
self.pendulum.NDT = 5
@property
def nqv(self):
return [NQ, NV]
@property
def nx(self):
return NQ * NV
@property
def nu(self):
return NU
@property
def goal(self):
return x2i(c2d([0., 0.]))
def reset(self, x=None):
if x is None:
x = [np.random.randint(0, NQ), np.random.randint(0, NV)]
else:
x = i2x(x)
assert (len(x) == 2)
self.x = x
return x2i(self.x)
def step(self, iu):
self.x = self.dynamics(self.x, iu)
reward = 1 if x2i(self.x) == self.goal else 0
return x2i(self.x), reward
def render(self):
q = d2cq(self.x[0])
self.pendulum.display(np.matrix([
q,
]))
time.sleep(self.pendulum.DT)
def dynamics(self, ix, iu):
x = np.matrix(d2c(ix)).T
u = d2cu(iu)
self.xc, _ = self.pendulum.dynamics(x, u)
return c2d(x.T.tolist()[0])
class DPendulum:
def __init__(self):
self.pendulum = Pendulum(1)
self.pendulum.DT = DT
self.pendulum.NDT = 5
@property
def nqv(self): return [NQ,NV]
@property
def nx(self): return NQ*NV
@property
def nu(self): return NU
@property
def goal(self): return x2i(c2d([0.,0.]))
def reset(self,x=None):
if x is None:
x = [ np.random.randint(0,NQ), np.random.randint(0,NV) ]
else: x = i2x(x)
assert(len(x)==2)
self.x = x
return x2i(self.x)
def step(self,iu):
self.x = self.dynamics(self.x,iu)
reward = 1 if x2i(self.x)==self.goal else 0
return x2i(self.x),reward
def render(self):
q = d2cq(self.x[0])
self.pendulum.display(np.matrix([q,]))
time.sleep(self.pendulum.DT)
def dynamics(self,ix,iu):
x = np.matrix(d2c (ix)).T
u = d2cu(iu)
self.xc,_ = self.pendulum.dynamics(x,u)
return c2d(x.T.tolist()[0])
class App:
def __init__(self):
self._running = True
self._display_suf = None
self.size = CANVAS
self.width = self.size[0]
self.height = self.size[1]
self.bg_color = (255, 255, 255)
self.pendulum = None
self.clock = None
self.fps = 30
def on_init(self):
pygame.init()
self.clock = pygame.time.Clock()
self.screen = pygame.display.set_mode(self.size)
self._running = True
self.ball = Ball()
def reset(self):
self.on_init()
def on_event(self, event):
if event.type == pygame.QUIT:
self._running = False
if event.type == pygame.MOUSEBUTTONDOWN:
x, y = pygame.mouse.get_pos()
self.pendulum = Pendulum(x, y, self.ball)
if event.type == pygame.MOUSEBUTTONUP:
Pendulum.calc_exit_velocities(self.pendulum, self.ball)
self.pendulum = None
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
self.reset()
if event.key == pygame.K_UP:
if self.pendulum is None:
self.ball.jump()
def apply_movement(self, dt):
keymap = pygame.key.get_pressed()
force = dt * 5
if keymap[pygame.K_LEFT]:
self.ball.velocity[0] -= force
if keymap[pygame.K_RIGHT]:
self.ball.velocity[0] += force
def check_collisions(self):
if self.ball.top < 0:
self.ball.y = 0
self.ball.velocity[1] *= -1
if self.ball.bottom > self.height:
self.ball.y = self.height - self.ball.size
self.ball.velocity[1] *= -1
if self.ball.left < 0:
self.ball.x = 0
self.ball.velocity[0] *= -1
if self.ball.right > self.width:
self.ball.x = self.width - self.ball.size
self.ball.velocity[0] *= -1
def on_loop(self, dt):
self.check_collisions()
self.apply_movement(dt)
if self.pendulum is not None:
self.pendulum.move(dt)
else:
self.ball.move(dt)
def on_render(self):
self.screen.fill(self.bg_color)
self.ball.display(self.screen)
if self.pendulum is not None:
self.pendulum.display(self.screen)
pygame.display.flip()
def on_cleanup(self):
pygame.quit()
def on_execute(self):
if self.on_init() == False:
self._running = False
while self._running:
dt = self.clock.tick(self.fps)
dt = dt / 100.
for event in pygame.event.get():
self.on_event(event)
self.on_loop(dt)
self.on_render()
self.on_cleanup()
