pendulum_env.h

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#ifndef PENDULUM_ENV_H
#define PENDULUM_ENV_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 <tuple>
#include <vector>
 
namespace bitrl
{
namespace envs::gymnasium
{
 
class Pendulum final
    : public GymnasiumEnvBase<TimeStep<std::vector<real_t>>,
                              ContinuousVectorStateContinuousScalarBoundedActionEnv<
                                  3, 1, RealRange<-2.0, 2.0>, 0, real_t>>
{
 
  public:
    static const std::string name;
 
    static const std::string URI;
 
    typedef GymnasiumEnvBase<TimeStep<std::vector<real_t>>,
                             ContinuousVectorStateContinuousScalarBoundedActionEnv<
                                 3, 1, RealRange<-2.0, 2.0>, 0, real_t>>::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;
 
    Pendulum(network::RESTRLEnvClient &api_server);
 
    Pendulum(const Pendulum &other);
 
    ~Pendulum() 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 envs::gymnasium
} // namespace bitrl
 
#endif // PENDULUM_ENV_H