quadcopter_sim_env.h

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/*
 * Quadcopter simulation environment
 * from
 * <a href="https://github.com/utiasDSL/gym-pybullet-drones/tree/main">gym-pybullet-drones</a>
 *
 *
 *
 *
 */
 
#ifndef QUADCOPTER_SIM_ENV_H
#define QUADCOPTER_SIM_ENV_H
 
#include "rlenvs/envs/env_base.h"
#include "rlenvs/extern/HTTPRequest.hpp"
#include "rlenvs/rlenvs_types_v2.h"
#include "rlenvs/time_step.h"
 
#include <boost/noncopyable.hpp>
 
#include <any>
#include <string>
#include <unordered_map>
 
namespace rlenvscpp
{
namespace envs
{
namespace gym_pybullet_drones
{
 
class QuadcopterSimEnv : public EnvBase<TimeStep<std::vector<real_t>>, std::vector<real_t>>
{
  public:
    typedef typename EnvBase<TimeStep<std::vector<real_t>>, std::vector<real_t>>::time_step_type
        time_step_type;
    typedef typename EnvBase<TimeStep<std::vector<real_t>>, std::vector<real_t>>::action_type
        action_type;
 
    QuadcopterSimEnv(const std::string &url, const std::string &name);
 
    virtual void make(const std::string &version,
                      const std::unordered_map<std::string, std::any> &options) override final;
 
    virtual time_step_type step(const action_type &action) override final;
 
    virtual void close() override final;
 
    virtual time_step_type
    reset(uint_t seed, const std::unordered_map<std::string, std::any> &options) override final;
 
    bool is_alive() const noexcept;
 
  private:
    time_step_type current_state_;
 
    time_step_type create_time_step_from_response_(const http::Response &response) const;
};
 
inline QuadcopterSimEnv::QuadcopterSimEnv(const std::string &url, const std::string &name)
    : EnvBase(url + "/gym-pybullet-drones/quadcopter-sim-env", name), current_state_()
{
}
 
} // namespace gym_pybullet_drones
} // namespace envs
} // namespace rlenvscpp
 
#endif // QUADCOPTER_SIM_ENV_H