:py:mod:`rktl_autonomy.cartpole_interface`
==========================================

.. py:module:: rktl_autonomy.cartpole_interface

.. autoapi-nested-parse::

   Cartpole is a very simple environment included within OpenAI Gym. There is not
   much of a reason to use it, except for verifying the functionality of this
   library. Two different interfaces are provided, `CartpoleInterface` and
   `CartpoleDirectInterface`. The former uses the `ROSInterface` class and the
   latter directly owns the Gym environment. To verify the `ROSInterface` worked,
   it was confirmed that they both behave the same way.

   License:
     BSD 3-Clause License
     Copyright (c) 2023, Autonomous Robotics Club of Purdue (Purdue ARC)
     All rights reserved.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   rktl_autonomy.cartpole_interface.CartpoleActions
   rktl_autonomy.cartpole_interface.CartpoleInterface




.. py:class:: CartpoleActions

   Bases: :py:obj:`enum.IntEnum`

   Possible actions for deep learner.

   .. py:attribute:: LEFT
      :value: 0

      

   .. py:attribute:: RIGHT

      

   .. py:attribute:: SIZE

      


.. py:class:: CartpoleInterface(eval=False, launch_file=['rktl_autonomy', 'cartpole_train.launch'], launch_args=[], run_id=None)

   Bases: :py:obj:`rktl_autonomy.ROSInterface`

   ROS interface for the cartpole game.

   .. py:property:: action_space

      The Space object corresponding to valid actions.


   .. py:property:: observation_space

      The Space object corresponding to valid observations.


   .. py:method:: _reset_env()

      Reset environment for a new training episode.


   .. py:method:: _reset_self()

      Reset internally for a new episode.


   .. py:method:: _has_state()

      Determine if the new state is ready.


   .. py:method:: _clear_state()

      Clear state variables / flags in preparation for new ones.


   .. py:method:: _get_state()

      Get state tuple (observation, reward, done, info).


   .. py:method:: _publish_action(action)

      Publish an action to the ROS network.


   .. py:method:: _obs_cb(obs_msg)

      Callback for observation of game.


   .. py:method:: _reward_cb(reward_msg)

      Callback for reward of game.


   .. py:method:: _done_cb(done_msg)

      Callback for if episode is done.