def __init__(self, filename):
alpha = 0.3
gamma = 0.5
alpha_decay = 0.999
min_alpha = 0.005
epsilon = 0.99
epsilon_decay = 0.99
min_epsilon = 0.001
self.filename = filename
try:
pend = cPickle.load(open(filename))
except IOError:
e = reply.encoder.DistanceEncoder(
self.get_state_space(), self.get_action_space()
)
pend = reply.RL(
reply.learner.QLearner(alpha, gamma, alpha_decay, min_alpha),
reply.storage.DebugTableStorage(e),
e,
reply.selector.EGreedySelector(epsilon, epsilon_decay, min_epsilon)
)
self.rl = pend
self.win = window.Window(width=800, height=600)
self.figure = None
cp.cpInitChipmunk()
#PID stuff
self.integral = 0
self.last_error = 0
self.ki = 0.5
self.kd = -0.5
self.kp = 1.0
cp.cpSpaceAddShape(space, shape)
anims = chipmunk_body_anims(body)
sprite.x, sprite.y, sprite.rot = anims
return shape, sprite
if __name__ == "__main__":
pygame.init()
pygame.display.set_mode((800, 600), pygame.OPENGL | pygame.DOUBLEBUF)
rabbyt.set_viewport((800, 600))
rabbyt.set_default_attribs()
### Physics stuff
cp.cpInitChipmunk()
space = cp.cpSpaceNew()
space.contents.gravity = vec2d(0.0, -900.0)
cp.cpSpaceResizeStaticHash(space, 50.0, 2000)
cp.cpSpaceResizeActiveHash(space, 50.0, 100)
wallBody = cp.cpBodyNew(1e100, 1e100)
wallShape = cp.cpSegmentShapeNew(wallBody, vec2d(-300, -300),
vec2d(300, -300), 0.0)
wallShape.contents.u = 1.0
wallShape.contents.collision_type = COLLTYPE_DEFAULT
cp.cpSpaceAddStaticShape(space, wallShape)
shapes = []
sprites = []
shape.contents.collision_type = COLLTYPE_DEFAULT
cp.cpSpaceAddShape(space, shape)
anims = chipmunk_body_anims(body)
sprite.x, sprite.y, sprite.rot = anims
return shape, sprite
if __name__ == "__main__":
pygame.init()
pygame.display.set_mode((800,600), pygame.OPENGL | pygame.DOUBLEBUF)
rabbyt.set_viewport((800, 600))
rabbyt.set_default_attribs()
### Physics stuff
cp.cpInitChipmunk()
space = cp.cpSpaceNew()
space.contents.gravity = vec2d(0.0, -900.0)
cp.cpSpaceResizeStaticHash(space, 50.0, 2000)
cp.cpSpaceResizeActiveHash(space, 50.0, 100)
wallBody = cp.cpBodyNew(1e100, 1e100)
wallShape = cp.cpSegmentShapeNew(wallBody, vec2d(-300, -300),
vec2d(300, -300), 0.0)
wallShape.contents.u = 1.0
wallShape.contents.collision_type = COLLTYPE_DEFAULT
cp.cpSpaceAddStaticShape(space, wallShape)
shapes = []
def init_pymunk():
"""Call this method to initialize pymunk"""
cp.cpInitChipmunk()
