Rcs::OMNormalized Class Reference

#include <OMNormalized.h>

Inheritance diagram for Rcs::OMNormalized:

Collaboration diagram for Rcs::OMNormalized:

Public Member Functions
	OMNormalized (ObservationModel *wrapped, PropertySource *overrideMin, PropertySource *overrideMax)
virtual	~OMNormalized ()
	OMNormalized (const OMNormalized &)=delete
OMNormalized &	operator= (const OMNormalized &)=delete
	OMNormalized (OMNormalized &&)=delete
OMNormalized &	operator= (OMNormalized &&)=delete
virtual unsigned int	getStateDim () const
virtual unsigned int	getVelocityDim () const
virtual void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const
virtual void	getLimits (double *minState, double *maxState, double *maxVelocity) const
virtual void	reset ()
virtual std::vector< std::string >	getStateNames () const
virtual std::vector< ObservationModel * >	getNested () const
virtual std::vector< std::string >	getVelocityNames () const
Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()
MatNd *	computeObservation (const MatNd *currentAction, double dt) const
void	computeObservation (MatNd *observation, const MatNd *currentAction, double dt) const
virtual void	getMinMax (double *min, double *max) const final
virtual unsigned int	getDim () const final
virtual std::vector< std::string >	getNames () const final
template<typename OM >
OM *	findModel ()
template<typename OM >
Offsets	findOffsets ()
Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()
virtual	~BoxSpaceProvider ()
	BoxSpaceProvider (const BoxSpaceProvider &)=delete
BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete
	BoxSpaceProvider (BoxSpaceProvider &&)=delete
BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete
const BoxSpace *	getSpace () const

Private Attributes
ObservationModel *	wrapped
MatNd *	scale
MatNd *	shift

Detailed Description

Observation model wrapper to normalize observations into the [-1,1] range.

Definition at line 43 of file OMNormalized.h.

Constructor & Destructor Documentation

OMNormalized() [1/3]

Rcs::OMNormalized::OMNormalized ( Rcs::ObservationModel *  wrapped, PropertySource *  overrideMin, PropertySource *  overrideMax  )

explicit

Constructor

Parameters

wrapped	inner observation model. Takes ownership.
overrideMin	overridden lower bounds by state name
overrideMax	overridden upper bounds by state name

Definition at line 58 of file OMNormalized.cpp.

~OMNormalized()

Rcs::OMNormalized::~OMNormalized ( )

virtual

Definition at line 88 of file OMNormalized.cpp.

OMNormalized() [2/3]

Rcs::OMNormalized::OMNormalized ( const OMNormalized &  )

delete

OMNormalized() [3/3]

Rcs::OMNormalized::OMNormalized ( OMNormalized &&  )

delete

Member Function Documentation

computeObservation()

void Rcs::OMNormalized::computeObservation ( double *  state, double *  velocity, const MatNd *  currentAction, double  dt  ) const

virtual

Implement to fill the observation vector with the observed values.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[out]	velocity	velocity observation vector to fill, has getVelocityDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Implements Rcs::ObservationModel.

Definition at line 107 of file OMNormalized.cpp.

getLimits()

void Rcs::OMNormalized::getLimits ( double *  minState, double *  maxState, double *  maxVelocity  ) const

virtual

Provides the minimum and maximum observable values. Since the velocity is symmetric, only the maximum needs to be provided. The default implementation uses -inf and inf.

Parameters

[out]	minState	minimum state vector to fill, has getStateDim() elements.
[out]	maxState	maximum state vector to fill, has getStateDim() elements.
[out]	maxVelocity	maximum velocity vector to fill, has getVelocityDim() elements.

Reimplemented from Rcs::ObservationModel.

Definition at line 122 of file OMNormalized.cpp.

getNested()

std::vector< Rcs::ObservationModel * > Rcs::OMNormalized::getNested ( ) const

virtual

List directly nested observation models. The default implementation returns an empty list, since there are no nested models.

Reimplemented from Rcs::ObservationModel.

Definition at line 152 of file OMNormalized.cpp.

getStateDim()

unsigned int Rcs::OMNormalized::getStateDim ( ) const

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 97 of file OMNormalized.cpp.

getStateNames()

std::vector< std::string > Rcs::OMNormalized::getStateNames ( ) const

virtual

Provides names for each state entry.

Returns

a vector of name strings. Must be of length getStateDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 142 of file OMNormalized.cpp.

getVelocityDim()

unsigned int Rcs::OMNormalized::getVelocityDim ( ) const

virtual

The number of velocity variables. The default implementation assumes that for each state there is a velocity.

Reimplemented from Rcs::ObservationModel.

Definition at line 102 of file OMNormalized.cpp.

getVelocityNames()

std::vector< std::string > Rcs::OMNormalized::getVelocityNames ( ) const

virtual

Provides names for each velocity entry. The default implementation derives the names from getStateNames(), appending a 'd' to each name.

Returns

a vector of name strings. Must be of length getVelocityDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 147 of file OMNormalized.cpp.

operator=() [1/2]

OMNormalized& Rcs::OMNormalized::operator= ( OMNormalized &&  )

delete

operator=() [2/2]

OMNormalized& Rcs::OMNormalized::operator= ( const OMNormalized &  )

delete

reset()

void Rcs::OMNormalized::reset ( )

virtual

Reset any internal state. This is called to begin a new episode. It should also reset values depending on modifiable physics parameters. This is an optional operation, so the default implementation does nothing.

Reimplemented from Rcs::ObservationModel.

Definition at line 137 of file OMNormalized.cpp.

Member Data Documentation

scale

MatNd* Rcs::OMNormalized::scale

private

Definition at line 49 of file OMNormalized.h.

shift

MatNd* Rcs::OMNormalized::shift

private

Definition at line 51 of file OMNormalized.h.

wrapped

ObservationModel* Rcs::OMNormalized::wrapped

private

Definition at line 47 of file OMNormalized.h.

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The documentation for this class was generated from the following files:

• src/cpp/core/observation/OMNormalized.h
• src/cpp/core/observation/OMNormalized.cpp