void rect(const unsigned texture,
const vec2& v0,
const vec2& v1,
const vec2& vt0,
const vec2& vt1)
{
if(!glIsTexture(texture))
return;
const BindTexture2D bind(texture);
GLint old_state(0);
glGetTexEnviv(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, &old_state);
if(old_state != GL_MODULATE)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
vec2 vp[4] = {v0, vec2(v1.x, v0.y), vec2(v0.x, v1.y), v1};
vec2 vtp[4] = {vt0, vec2(vt1.x, vt0.y), vec2(vt0.x, vt1.y), vt1};
glTexCoordPointer(2, GL_FLOAT, 0, vtp);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(2, GL_FLOAT, 0, vp);
glEnableClientState(GL_VERTEX_ARRAY);
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
if(old_state != GL_MODULATE)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, old_state);
}
std::ostream & operator<< (std::ostream & os, const pfp::cp::Bytes & b) {
// Save state of stream
std::ios old_state(nullptr);
old_state.copyfmt(os);
// Apply our iomanips and print the hex prefix
os << std::hex << std::setfill('0') << "0x";
// Print out the hex representation of our Bytes in MSB first order
for (auto it = b.rbegin(), end = b.rend(); it != end; ++it) {
os << std::setw(2) << static_cast<int>(*it);
}
// Restore state of stream
os.copyfmt(old_state);
return os;
}
void Widget::SetState( State state ) {
// Do nothing if state wouldn't change.
if( m_state == state ) {
return;
}
State old_state( m_state );
m_state = state;
// If HandleStateChange() changed the state, do not call observer, will be
// done from there too.
if( m_state != old_state ) {
HandleStateChange( old_state );
OnStateChange();
}
if( state == Active ) {
GrabFocus( shared_from_this() );
}
}
int main()
{
//learning factor
const double alpha = 0.5;
//discount factor
const double gamma = 0.5;
const double deltatime = 0.05;
const double mass = 0.5;
const double length = 0.08;
const int angle_bins = 100;
const int velocity_bins = 50;
const int torque_bins = 9;
const double max_angle = M_PI;
const double max_velocity = 10;
const double max_torque = 4;
Environment* env = new Environment(0, 0, 0, max_torque, 0, deltatime, mass, length, gamma);
//seed rng
std::srand(static_cast<unsigned int>(std::time(NULL)));
//create the possible actions as well as the chosen action
float chosen_action = 1; // rip f
float actions[torque_bins];
for (int i = 0; i < (max_torque*2)+1 ; ++i)
{
actions[i] = static_cast<float>(-max_torque+i);
}
//create a priority queue to copy to all the state space priority queues
PriorityQueue<float, double> initiator_queue(MAX);
for (int i = 0; i < torque_bins; ++i)
{
initiator_queue.enqueueWithPriority(actions[i], 0);
}
//create the state space
StateSpace space(initiator_queue, angle_bins, velocity_bins, torque_bins, max_angle, max_velocity, max_torque);
//state objects
State current_state(0, 0, 0);
State old_state(0, 0, 0);
// std::ofstream file("output.txt");
// file.precision(16);
// file << "Trialno" << " " << "Time" << " " << "Theta" << " " << "Thetadot" << " " << "Torque" << std::endl;
double trialno = 1;
unsigned long i=0;
while (true)
{
current_state.theta = env->getTheta();
current_state.theta_dot = env->getThetadot();
current_state.torque = env->getTorque();
std::cout << "State Read" << std::endl;
updateQ(space, chosen_action, old_state, current_state, alpha, gamma);
if (std::abs(current_state.theta_dot) > 5)
{
env->resetPendulum();
std::cout<<"->unsuccessful trial\n";
trialno++;
i = 0;
continue;
}
old_state = current_state;
chosen_action = selectAction(space[current_state],i);
std::cout << "Action Selected" << std::endl;
env->setTorque(chosen_action);
env->propagate();
std::cout << "Environment Propagated\n" << std::endl;
// file << trialno << " " << env->getTime() << " " << current_state.theta << " " << current_state.theta_dot << " " << current_state.torque << std::endl;
++i;
}
// file.close();
delete env;
return 1;
}