How to make it finite?

Question

ryunosuke tazawa 2021-8-8

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/894537-how-to-make-it-finite

评论： Gargi Patil 2021-8-13

在 MATLAB Online 中打开

I want to know the way to fix the erorr.

The error masage said that make the value finite.

There are four input state variables.

How can I fix it?

function set.State(this,state)
            validateattributes(state,{'numeric'},{'finite','real','vector','numel',4},'','State');
            this.State = double(state(:));
            notifyEnvUpdated(this);
        end

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ryunosuke tazawa 2021-8-12

在 MATLAB Online 中打开

Below is the code.

% pendulum throwing ball to target point.
classdef MyEnvironment < rl.env.MATLABEnvironment
    
    properties 
        
        m = 1.0;      % mass of pendulum
        L = 1.0;      % length of pendulum
        g = 9.8;      % gravity
        b = 0.01;     % Coefficient of friction
        
        MaxForce = 75; % Troque
        Ts = 0.04;     % time step
        Target = 2.5;  % target point
        
        RewardForNotFalling = 0;   % negative reward
        RewardForStrike = 10;       % positive reward
        PenaltyForFalling = -10;    % punishment
        State = [0 0 0 0]';          % ovservation  angular, angular velocity, ball's distance, troque
        
    end
    
    properties(Access = protected)
        IsDone = false
    end
    
    methods
        function this = MyEnvironment()
            
            ObservationInfo = rlNumericSpec([4 1]);
            ObservationInfo.Name = 'States';
            ObservationInfo.Description = 'theta,w,ball_gosa,u'; 
            
            ActionInfo = rlNumericSpec([1 1],'LowerLimit',30,'UpperLimit',75);
            ActionInfo.Name = 'Action';
            ObservationInfo.Description = 'F';
            
            this = this@rl.env.MATLABEnvironment(ObservationInfo,ActionInfo);
            updateActionInfo(this);
        end
        
       
        
        function [Observation,Reward,IsDone,LoggedSignals] = step(this,Action)
            
            LoggedSignals = [];
            
            Force = getForce(this,Action);
            
            theta = this.State(1);
            w = this.State(2);
            
            
            IsDone = false;
            
            R = 0;
            
            
            % pendulum dynamics by eulur method
            
            
            
            q2 =  w - (this.g/this.L) *theta*this.Ts- this.b * this.Ts-Force*this.Ts;
            q1 = theta + w * this.Ts;
            
            % ball dynamics
            ball_x = this.L * sin(q1);
            ball_y = -this.L * cos(q1);
            ball_time = sqrt(2*abs(ball_y)/9.8);     
            ball_reach = ball_x +abs(q2).*ball_time;
          
            ball_gosa = ball_reach-this.Target;
            q3 = ball_gosa;
            
           
            % condition of reward
            if  0 < q3 && q3 < 0.5
                IsDone = true;
                R = this.RewardForStrike;
                
            else
                
                R = this.RewardForNotFalling;
            end
           
            
            Observation = [q1 q2 q3 Force]';              
            
            this.State = Observation;
            
            this.IsDone = IsDone;
            
            Reward = getReward(this,R);
            
            notifyEnvUpdated(this);
            
        end
        
        
        function InitialObservation = reset(this)
            theta0 = 0;
            w0 = 0;
            ball_gosa0 = 0;
            u0 = 0;
           
            InitialObservation = [theta0 w0 ball_gosa0 u0]';
            this.State = InitialObservation;
            
            notifyEnvUpdated(this);
        end
        
            
    end
    
    methods 
        
        function force = getForce(~,action)
            
            force = action;
        end
        
        function updateActionInfo(this)
            
            this.ActionInfo= this.ActionInfo;
          
        end
        % Reward function
        function Reward = getReward(this,R)
            
            if this.IsDone==1
                
                Reward = R + this.RewardForStrike;
                
            else
                
                Reward = R + this.PenaltyForFalling;
            end
        end
        
       function set.State(this,state)
            validateattributes(state,{'numeric'},{'finite','real','vector','numel',4},'','State');
            this.State = double(state(:));
            notifyEnvUpdated(this);
        end
        
        function set.MaxForce(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','MaxForce');
            this.MaxForce = val;
        end
        
        function set.Ts(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','Ts');
            this.Ts = val;
        end
        
        function set.RewardForNotFalling(this,val)
            validateattributes(val,{'numeric'},{'real','finite','scalar'},'','RewardForNotFalling');
            this.RewardForNotFalling = val;
        end
        function set.PenaltyForFalling(this,val)
            validateattributes(val,{'numeric'},{'real','finite','scalar'},'','PenaltyForFalling');
            this.PenaltyForFalling = val;
        end
        function set.RewardForStrike(this,val)
            validateattributes(val,{'numeric'},{'real','finite','scalar'},'','RewardForStrike');
            this.RewardForStrike = val;
        end
        
        function set.L(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','L');
            this.L = val;
        end
        
        function set.m(this,val)
            validateattributes(val,{'numeric'},{'finite','real','positive','scalar'},'','m');
            this.m = val;
        end
    end
        methods (Access = protected)
        % (optional) update visualization everytime the environment is updated 
        % (notifyEnvUpdated is called)
        function envUpdatedCallback(this)
            plot(this.State)
            hold on
            XLimMode = 'auto';
            YLimMode = 'auto'; 
            
        end
        end
        
        
        
end
    