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TestEnvironment.h
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TestEnvironment.h
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#include <Eigen/Core>
#include <torch/torch.h>
enum STATUS {
PLAYING,
WON,
LOST,
RESETTING
};
struct TestEnvironment
{
Eigen::Vector2d pos_;
Eigen::Vector2d goal_;
Eigen::VectorXd state_;
double old_dist_;
TestEnvironment(double x, double y) : goal_(2), pos_(2), state_(4)
{
goal_ << x, y;
pos_.setZero();
state_ << pos_, goal_;
old_dist_ = GoalDist(pos_);
};
auto Act(double act_x, double act_y) -> std::tuple<torch::Tensor, int, torch::Tensor>
{
old_dist_ = GoalDist(pos_);
double max_step = 0.1;
pos_(0) += max_step*act_x;
pos_(1) += max_step*act_y;
state_ << pos_, goal_;
torch::Tensor state = State();
torch::Tensor done = torch::zeros({1, 1}, torch::kF64);
STATUS status;
if (GoalDist(pos_) < 6e-1) {
status = WON;
done[0][0] = 1.;
}
else if (GoalDist(pos_) > 1e1) {
status = LOST;
done[0][0] = 1.;
}
else {
status = PLAYING;
done[0][0] = 0.;
}
return std::make_tuple(state, status, done);
}
auto State() -> torch::Tensor
{
torch::Tensor state = torch::zeros({1, state_.size()}, torch::kF64);
std::memcpy(state.data_ptr(), state_.data(), state_.size()*sizeof(double));
return state;
}
auto Reward(int status) -> torch::Tensor
{
torch::Tensor reward = torch::full({1, 1}, old_dist_ - GoalDist(pos_), torch::kF64);
switch (status)
{
case PLAYING:
break;
case WON:
reward[0][0] += 10.;
printf("won, reward: %f\n", reward[0][0].item<double>());
break;
case LOST:
reward[0][0] -= 10.;
printf("lost, reward: %f\n", reward[0][0].item<double>());
break;
}
return reward;
}
double GoalDist(Eigen::Vector2d& x)
{
return (goal_ - x).norm();
}
void Reset()
{
pos_.setZero();
state_ << pos_, goal_;
}
void SetGoal(double x, double y)
{
goal_(0) = x;
goal_(1) = y;
old_dist_ = GoalDist(pos_);
state_ << pos_, goal_;
}
};