public override Image Render(string mode = "human")
{
float b, t, r, l;
const int screen_width = 600;
const int screen_height = 400;
const float world_width = x_threshold * 2;
const float scale = screen_width / world_width;
const int carty = 300;
const float polewidth = 10.0f;
const float poleheight = scale * (2 * length);
const float cartwidth = 50.0f;
const float cartheight = 30.0f;
if (_viewer == null)
{
lock (this) {
//to prevent double initalization.
if (_viewer == null)
{
if (_viewerFactory == null)
{
_viewerFactory = NullEnvViewer.Factory;
}
_viewer = _viewerFactory(screen_width, screen_height, "cartpole-v1");
}
}
}
//pole
l = -polewidth / 2;
r = polewidth / 2;
t = poleheight - polewidth / 2;
b = -polewidth / 2;
var pole = new RectangularPolygon(-polewidth / 2, carty - poleheight, polewidth, poleheight);
var circle = new EllipsePolygon(0, carty - polewidth / 2, polewidth / 2);
//cart
l = -cartwidth / 2;
r = cartwidth / 2;
t = cartheight / 2;
b = -cartheight / 2;
var axleoffset = cartheight / 4.0;
var cart = new RectangularPolygon(-cartwidth / 2, carty - cartheight / 2, cartwidth, cartheight);
var draw = new List <(IPath, Rgba32)>();
if (!(state is null))
{
var center_x = (float)(state.GetDouble(0) * scale + screen_width / 2.0f);
//no y cuz it doesnt change.
var cbounds = circle.Bounds;
var pivotPoint = new PointF(cbounds.X + cbounds.Width / 2f, cbounds.Y + cbounds.Height / 2f);
draw.Add((cart.Translate(center_x, 0), Rgba32.Black));
draw.Add((pole.Transform(Matrix3x2.CreateRotation((float)state.GetDouble(2), pivotPoint)).Translate(center_x, 0), new Rgba32(204, 153, 102)));
draw.Add((circle.Translate(center_x, 0), Rgba32.Teal));
}
public CartPoleEnv(IEnvironmentViewerFactoryDelegate viewerFactory, NumPyRandom randomState)
{
_viewerFactory = viewerFactory;
// Angle limit set to 2 * theta_threshold_radians so failing observation is still within bounds
var high = np.array(x_threshold * 2, float.MaxValue, theta_threshold_radians * 2, float.MaxValue);
ActionSpace = new Discrete(2);
ObservationSpace = new Box(-high, high, np.float32);
random = randomState ?? np.random.RandomState();
Metadata = new Dict("render.modes", new[] { "human", "rgb_array" }, "video.frames_per_second", 50);
}
public CartPoleEnv(IEnvironmentViewerFactoryDelegate viewerFactory) : this(viewerFactory, null)
{
}
