robot_env.h

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#ifndef ROBOT_ENV_H
#define ROBOT_ENV_H
 
#include "bitrl/bitrl_types.h"
#include "bitrl/envs/env_base.h"
#include "bitrl/envs/time_step.h"
#include "bitrl/envs/time_step_type.h"
#include "bitrl/envs/env_types.h"
 
#include <chrono/physics/ChSystemNSC.h>
 
#include "robot.h"
 
#include <unordered_map>
#include <any>
#include <string>
 
namespace example_13
{
 
using namespace bitrl;
 
constexpr uint_t STATE_SPACE_SIZE = 3;
constexpr uint_t ACTION_SPACE_SIZE = 3;
 
using bitrl::TimeStepTp;
using bitrl::TimeStep;
 
typedef TimeStep<chrono::ChVector3d> time_step_type;
typedef bitrl::envs::ContinuousVectorStateContinuousVectorActionEnv<STATE_SPACE_SIZE, STATE_SPACE_SIZE> space_type;
 
class RobotEnv final: public bitrl::envs::EnvBase<time_step_type, space_type>
{
public:
 
    typedef typename space_type::action_type action_type;
 
    RobotEnv()=default;
 
    virtual void make(const std::string &version,
                      const std::unordered_map<std::string, std::any> &make_options,
                      const std::unordered_map<std::string, std::any> &reset_options) override;
 
    virtual void close()override{}
    virtual time_step_type reset()override;
    virtual time_step_type step(const action_type &/*action*/)override;
    void simulate();
 
private:
 
    Robot robot_;
    chrono::ChSystemNSC sys_;
    uint_t sim_counter_{0};
    real_t current_time_{0.0};
    void build_system_(std::shared_ptr<chrono::ChContactMaterialNSC> material);
 
};
 
 
}
 
#endif //ROBOT_ENV_H