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)
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()
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)
