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 __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 __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()
