Unicycle domain configuration. More...

#include <unicycle.h>

Inheritance diagram for unicycle::Config:

Public Attributes
float	gravity = 9.8f
	"Gravitational acceleration"

float	max_distance = 3.0f
	"Maximum distance from the center"

float	max_angle = 60.0f
	"Maximum angle from vertical"

float	max_initial_angle = 10.0f
	"Maximum starting angle from vertical"

float	pole_length = 1.5f
	"Pole length"

float	pole_density = 1.0f
	"Pole density"

float	wheel_radius = 0.2f
	"Wheel size (radius)"

float	wheel_density = 1.0f
	"Wheel density"

float	wheel_friction = 10.0f
	"Wheel friction"

float	max_torque = 1.0f
	"Maximum torque which can be applied to the wheel"

bool	input_pole_angle = true
	"Use the pole angle as input"

bool	input_angular_velocity = true
	"Use the angular velocity as input"

bool	input_wheel_distance = true
	"Use the wheel distance as input"

bool	input_wheel_velocity = true
	"Use the wheel linear velocity as input"

bool	input_distance_from_target = true
	"Distance from target position"

int	test_worlds = 5
	"Number of test worlds per generation"

int	max_steps = 1000
	"Maximum number of steps per episode"

bool	discrete_controls = false
	"Force the actuator force to fixed +/-discrete_force_magnitude"

float	discrete_torque_magnitude = 0.5f
	"The fixed force magnitude used if discrete_controls is true"

Additional Inherited Members
Public Member Functions inherited from core::PropertySet
vector< Property * >	properties ()
	Accessor to the list of properties.

vector< const Property * >	properties () const
	Accessor to the list of properties.

void	resetToDefaultValues ()
	Resets all the properties to the default values.

void	copyFrom (const PropertySet &src)
	Transfer values between two property sets.

void	seal (bool sealed=true)
	After sealing a PropertySet, all attempts to modify it through the Property interface will throw an exception (even if setting to the same value)

bool	sealed () const
	Returns `true` if the property set is sealed.

void	onPropertyChange (const Property *property)
	Called before updating a property value.

json	toJson () const
	Serialize all the properties to a json object. More...

void	fromJson (const json &json_obj)
	Deserialize a set of properties from a json object. More...

Detailed Description

Unicycle domain configuration.

The documentation for this struct was generated from the following file:

Public Attributes