continuous_cartpole_env.hpp

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#pragma once
 
#include <cstdint>
 
#include "pulsatrix/device_backend.hpp"
#include "pulsatrix/environment.hpp"
#include "pulsatrix/tensor.hpp"
 
namespace pulsatrix {
 
class ContinuousCartPoleEnv : public Environment {
public:
    static constexpr double kXThreshold = 2.4;
    static constexpr double kThetaThreshold = 0.20943951;
    static constexpr double kActionRangeTolerance = 1e-4;
 
    explicit ContinuousCartPoleEnv(DeviceBackend* backend, int64_t max_steps = 200, uint32_t seed = 42);
 
    [[nodiscard]] Tensor reset() override;
 
    [[nodiscard]] Tensor reset(const Tensor& initial_state) override;
 
    [[nodiscard]] StepResult step(const Tensor& action) override;
 
    [[nodiscard]] int64_t observation_dim() const override { return 4; }
 
    [[nodiscard]] int64_t action_dim() const override { return 1; }
 
    [[nodiscard]] bool is_discrete() const override { return false; }
 
    [[nodiscard]] int64_t step_count() const { return step_count_; }
 
    [[nodiscard]] int64_t max_steps() const { return max_steps_; }
 
private:
    [[nodiscard]] Tensor observation() const;
 
    [[nodiscard]] double next_uniform();
 
    DeviceBackend* backend_;
    int64_t max_steps_;
    uint32_t lcg_state_;
 
    double x_ = 0.0;
    double x_dot_ = 0.0;
    double theta_ = 0.0;
    double theta_dot_ = 0.0;
 
    int64_t step_count_ = 0;
    bool has_reset_ = false;
};
 
}  // namespace pulsatrix