Struct PendulumSwingUp 

pub struct PendulumSwingUp { /* private fields */ }

Pendulum swing-up task with a continuous torque action.

See the module docs for the full observation/reward/dynamics specification and determinism contract.

Implementations

impl PendulumSwingUp

pub fn new() -> Self

Create a new env with the default seed and episode length.

pub fn with_seed(seed: u64) -> Self

Create a new env with a custom reset seed.

Two envs constructed with the same seed produce identical episodes (same initial state on every reset).

pub fn with_seed_and_max_steps(seed: u64, max_steps: usize) -> Self

Create a new env with a custom reset seed and episode length.

pub fn theta(&self) -> f32

Current pole angle in radians (for inspection / tests).

pub fn theta_dot(&self) -> f32

Current angular velocity (for inspection / tests).

Trait Implementations

impl Clone for PendulumSwingUp

fn clone(&self) -> PendulumSwingUp

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PendulumSwingUp

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for PendulumSwingUp

fn default() -> Self

Returns the “default value” for a type.

impl Environment for PendulumSwingUp

type Action = Vec<f32>

Continuous torque action. Length-1 Vec<f32>; values outside [-MAX_TORQUE, MAX_TORQUE] are clamped. An empty vec is treated as zero torque.

type State = PendulumState

Snapshot type. The dynamics are deterministic (no RNG), so restore + step reproduces subsequent results exactly. The reset RNG is not captured; see PendulumState.

fn reset(&mut self)

Reset the environment and return initial observation

fn get_observation(&self) -> Vec<f32>

Get the current observation

fn step(&mut self, action: Vec<f32>) -> StepResult

Step the environment with an action

fn observation_space(&self) -> SpaceInfo

Get the observation space dimensions

fn action_space(&self) -> SpaceInfo

Get the action space dimensions

fn render(&self) -> Vec<u8>

Render the current environment state

fn close(&mut self)

Close the environment

fn clone_state(&self) -> PendulumState

Snapshot the current env state for later restoration.

fn restore_state(&mut self, state: &PendulumState)

Restore the env to a previously-snapshotted state.