void ompl::control::SimpleSetup::setup()
{
if (!configured_ || !si_->isSetup() || !planner_->isSetup())
{
if (!si_->isSetup())
si_->setup();
if (!planner_)
{
if (pa_)
planner_ = pa_(si_);
if (!planner_)
{
OMPL_INFORM("No planner specified. Using default.");
planner_ = getDefaultPlanner(getGoal());
}
}
planner_->setProblemDefinition(pdef_);
if (!planner_->isSetup())
planner_->setup();
params_.clear();
params_.include(si_->params());
params_.include(planner_->params());
configured_ = true;
}
}
void ompl::geometric::SimpleSetup::setup()
{
if (!configured_ || !si_->isSetup() || !planner_->isSetup())
{
if (!si_->isSetup())
si_->setup();
if (!planner_)
{
if (pa_)
planner_ = pa_(si_);
if (!planner_)
{
OMPL_INFORM("No planner specified. Using default.");
planner_ = tools::SelfConfig::getDefaultPlanner(getGoal());
}
}
planner_->setProblemDefinition(pdef_);
if (!planner_->isSetup())
planner_->setup();
configured_ = true;
}
}
void ompl::tools::Lightning::setup()
{
if (!configured_ || !si_->isSetup() || !planner_->isSetup() || !rrPlanner_->isSetup() )
{
OMPL_INFORM("Setting up the Lightning Framework");
if (!configured_)
OMPL_INFORM(" Setting up because not configured");
else if(!si_->isSetup())
OMPL_INFORM(" Setting up because not si->isSetup");
else if(!planner_->isSetup())
OMPL_INFORM(" Setting up because not planner->isSetup");
else if(!rrPlanner_->isSetup())
OMPL_INFORM(" Setting up because not rrPlanner->isSetup");
// Setup Space Information if we haven't already done so
if (!si_->isSetup())
si_->setup();
// Setup planning from scratch planner
if (!planner_)
{
if (pa_)
planner_ = pa_(si_);
if (!planner_)
{
planner_ = tools::SelfConfig::getDefaultPlanner(pdef_->getGoal()); // we could use the repairProblemDef_ here but that isn't setup yet
OMPL_INFORM("No planner specified. Using default: %s", planner_->getName().c_str() );
}
}
planner_->setProblemDefinition(pdef_);
if (!planner_->isSetup())
planner_->setup();
// Setup planning from experience planner
rrPlanner_->setProblemDefinition(pdef_);
if (!rrPlanner_->isSetup())
rrPlanner_->setup();
// Create the parallel component for splitting into two threads
pp_ = ot::ParallelPlanPtr(new ot::ParallelPlan(pdef_) );
if (!scratchEnabled_ && !recallEnabled_)
{
throw Exception("Both planning from scratch and experience have been disabled, unable to plan");
}
if (scratchEnabled_)
pp_->addPlanner(planner_); // Add the planning from scratch planner if desired
if (recallEnabled_)
pp_->addPlanner(rrPlanner_); // Add the planning from experience planner if desired
// Check if experience database is already loaded
if (experienceDB_->isEmpty())
{
if (filePath_.empty())
{
OMPL_ERROR("No file path has been specified, unable to load experience DB");
}
else
{
experienceDB_->load(filePath_); // load from file
}
}
else
OMPL_ERROR("Attempting to load experience database when it is not empty");
// Set the configured flag
configured_ = true;
}
}
int main(int argc, char* argv[])
{
std::string filepath("CARTPOLENNACTORCRITIC");
std::string filepathRSFA(filepath+".FA.txt");
std::string filepathRSPA(filepath+".PA.txt");
unsigned int nbrthread = 4;
unsigned int nbrepi = 100;
float gamma_ = 0.99f;
float EOE = 5.0f; //in seconds...
SimulatorRKCARTPOLE env_(EOE);
/*
2x10
float lrPA_ = 1e-2f;
float lrFA_ = 1e-2f;
*/
/*
4x10
*/
/*
float lrPA_ = 1e-2f;
float lrFA_ = 1e-2f;
*/
/*
4x50
*/
float lrPA_ = 1e-4f;
float lrFA_ = 1e-4f;
/**/
float eps_ = 0.9f;
int dimActionSpace_ = 1;
int dimStateSpace_ = 4;
Topology topoFA;
unsigned int nbrneuronsFA = 50;
unsigned int nbrlayerFA = 4;
unsigned int nbrinputFA = dimActionSpace_+dimStateSpace_;
unsigned int nbroutputFA = 1;
topoFA.push_back(nbrinputFA,NTNONE); //input layer
//topoFA.push_back(nbrinputFA,NTSIGMOID); //input layer
//for(int i=nbrlayerFA;i--;) topoFA.push_back(nbrneuronsFA, NTSIGMOID);
for(int i=nbrlayerFA;i--;) topoFA.push_back(nbrneuronsFA, NTTANH);
//topoFA.push_back(nbroutputFA, NTNONE); //linear output
//topoFA.push_back(nbroutputFA, NTSIGMOID); //linear output
topoFA.push_back(nbroutputFA, NTTANH); //linear output
QFANN<float> fa_( lrFA_, eps_, gamma_, dimActionSpace_, topoFA, filepathRSFA);
Topology topoPA;
unsigned int nbrneuronsPA = 50;
unsigned int nbrlayerPA = 4;
unsigned int nbrinputPA = dimStateSpace_;
unsigned int nbroutputPA = dimActionSpace_;
topoPA.push_back(nbrinputPA,NTNONE); //input layer
//topoPA.push_back(nbrinputPA,NTSIGMOID); //input layer
//for(int i=nbrlayerPA;i--;) topoPA.push_back(nbrneuronsPA, NTSIGMOID);
for(int i=nbrlayerPA;i--;) topoPA.push_back(nbrneuronsPA, NTTANH);
//it would be difficult to get to higher values with a nonlinearity that would reduice the range of possibility, maybe...
//topoPA.push_back(nbroutputPA, NTNONE); //linear output
//topoPA.push_back(nbroutputPA, NTSIGMOID); //linear output
topoPA.push_back(nbroutputPA, NTTANH); //linear output
QPANN<float> pa_( lrPA_, eps_, gamma_, dimActionSpace_, topoPA, filepathRSPA);
//QLEARNINGXPReplay instance(nbrepi, gamma_, (Environment<float>*)(&env_), (FA<float>*)&fa_);
//QLEARNINGXPReplayActorCritic instance(nbrepi, gamma_, (Environment<float>*)(&env_), (FA<float>*)&fa_, (PA<float>*)&pa_);
float momentumUpdate = 1e-4f;
int freqUpdate = 1;
DDPGA3C instance(nbrepi, gamma_, (Environment<float>*)(&env_), (FA<float>*)&fa_, (PA<float>*)&pa_, momentumUpdate, freqUpdate);
instance.run(nbrepi,nbrthread);
fa_.save(filepath+"FA");
pa_.save(filepath+"PA");
}
