public void run() {
try {
while (true) {
pendulum.step();
queue.put(pendulum.get());
}
} catch (InterruptedException e) {
e.printStackTrace();
System.exit(1);
}
}
@Test
public void testStepFunction() {
Sample sample = simulator.step(1);
assertEquals(.1571, sample.currState.get(0), .0001);
assertEquals(.1397, sample.currState.get(1), .0001);
assertEquals(1, sample.action);
double roundedVal = (double) Math.round(sample.nextState.get(0) * 10000) / 10000;
assertEquals(0.1813, roundedVal, .0001);
roundedVal = (double) Math.round(sample.nextState.get(1) * 10000) / 10000;
assertEquals(0.3502, roundedVal, .0001);
assertEquals(0, (int) sample.reward);
}
@Test
public void testSimEnd() {
int iter = 0;
final int maxIter = 1000;
while (!simulator.isTerminal(simulator.getState())) {
iter++;
if (iter >= maxIter) {
fail("Pendulum did not enter terminal state before max iterations");
}
simulator.step(1);
}
assertTrue(simulator.isNonGoalTerminal(simulator.getState()));
assertFalse(simulator.isGoal(simulator.getState()));
}
/** Creates a new deterministic pendulum domain for testing. */
@Before
public void setup() {
simulator = new Pendulum(20);
double[] stateArray = {0.1571, 0.1397};
simulator.setState(new DenseVector(stateArray));
}
@Override
protected void doUpdate(long elapsed) {
elapsed = 100;
pendulum1.update(elapsed);
pendulum2.update(elapsed);
}
@Override
protected void doPaint(Graphics2D g2) {
pendulum1.doPaint(g2);
pendulum2.doPaint(g2);
}
public void mouseReleased() {
p.stopDragging();
}
public void mousePressed() {
p.clicked(mouseX, mouseY);
}
public void draw() {
background(255);
p.go();
}
