webots_base_env.h

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#ifndef WEBOTS_BASE_ENV_H
#define WEBOTS_BASE_ENV_H
 
#include "rlenvs/bitrl_config.h"
 
#ifdef BITRL_WEBOTS
 
#include "rlenvs/envs/env_base.h"
#include "rlenvs/envs/time_step.h"
#include "rlenvs/rlenvs_types_v2.h"
 
#include <any>
#include <memory>
#include <string>
#include <unordered_map>
 
namespace rlenvscpp
{
namespace envs
{
namespace webots_envs
{
 
template <typename TimeStepType, typename SpaceType>
class WebotsEnvBase : public EnvBase<TimeStepType, SpaceType>
{
 
  public:
    static constexpr uint_t DEFAULT_SIM_TIME_STEP = 32;
 
    typedef EnvBase<TimeStepType, SpaceType> 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;
 
    virtual void pause_simulation() = 0;
 
  protected:
    WebotsEnvBase(const uint_t cidx, const std::string &name = rlenvscpp::consts::INVALID_STR);
};
 
template <typename TimeStepType, typename SpaceType>
WebotsEnvBase<TimeStepType, SpaceType>::WebotsEnvBase(const uint_t cidx, const std::string &name)
    : EnvBase<TimeStepType, SpaceType>(cidx, name)
{
}
 
} // namespace webots_envs
} // namespace envs
} // namespace rlenvscpp
 
#endif
#endif