cart_pole_env.h

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#ifndef CART_POLE_ENV_H
#define CART_POLE_ENV_H
 
#include "bitrl/bitrl_config.h"
#include "bitrl/bitrl_types.h"
#include "bitrl/envs/env_types.h"
#include "bitrl/envs/gymnasium/gymnasium_env_base.h"
#include "bitrl/envs/time_step.h"
#include "bitrl/extern/nlohmann/json/json.hpp"
#include "bitrl/network/rest_rl_env_client.h"
 
#include <any>
#include <string>
#include <vector>
 
namespace bitrl
{
 
template <typename StateTp> class TimeStep;
 
namespace envs
{
namespace gymnasium
{
 
class CartPole final
    : public GymnasiumEnvBase<TimeStep<std::vector<real_t>>,
                              ContinuousVectorStateDiscreteActionEnv<4, 2, 0, real_t>>
{
 
  public:
    static const std::string name;
 
    static const std::string URI;
 
    typedef GymnasiumEnvBase<TimeStep<std::vector<real_t>>,
                             ContinuousVectorStateDiscreteActionEnv<4,     // size of state
                                                                    2,     // end of action space
                                                                    0,     // start of action space
                                                                    real_t // type of state
                                                                    >>::base_type base_type;
 
    typedef typename base_type::time_step_type time_step_type;
 
    typedef typename base_type::state_space_type state_space_type;
 
    typedef typename base_type::action_space_type action_space_type;
 
    typedef typename base_type::action_type action_type;
 
    typedef typename base_type::state_type state_type;
 
    CartPole(network::RESTRLEnvClient &api_server);
 
    CartPole(const CartPole &other);
 
    ~CartPole() override = default;
 
    virtual void
    make(const std::string &version, const std::unordered_map<std::string, std::any> &options,
         const std::unordered_map<std::string, std::any> &reset_options) override final;
 
    virtual time_step_type step(const action_type &action) override final;
 
    uint_t n_actions() const noexcept { return action_space_type::size; }
 
  protected:
    virtual time_step_type
    create_time_step_from_response_(const nlohmann::json &response) const override final;
};
 
} // namespace gymnasium
} // namespace envs
} // namespace bitrl
 
#endif // CART_POLE_H