import gym_electric_motor as gem
from ..random_component import RandomComponent
[docs]
class PhysicalSystemWrapper(gem.core.PhysicalSystem, RandomComponent):
"""A PhysicalSystemWrapper is a wrapper around the PhysicalSystem of a gem-environment.
It may be used to modify its states and actions. In contrast to gym-wrappers which are put around the whole
environment, modified states by the PhysicalSystemWrappers can be referenced, rewarded and visualized by the
other components of the environment.
"""
@property
def k(self):
return self._physical_system.k
@property
def action_space(self):
"""The processed action space.
If it is unset, the action space of the inner physical system is returned."""
if self._action_space is None:
return self._physical_system.action_space
return self._action_space
@action_space.setter
def action_space(self, space):
self._action_space = space
@property
def state_space(self):
"""The processed state space.
If it is unset, the state space of the inner physical system is returned."""
if self._state_space is None:
return self._physical_system.state_space
return self._state_space
@state_space.setter
def state_space(self, space):
self._state_space = space
@property
def physical_system(self):
"""The next inner physical_system or the next inner physical_system_wrapper."""
return self._physical_system
@property
def limits(self):
"""The processed physical system limits.
If it is unset, the inner limits are returned."""
if self._limits is None:
return self._physical_system.limits
return self._limits
@property
def unwrapped(self):
"""The innermost physical system within all Physical System Wrappers."""
return self.physical_system.unwrapped
@property
def nominal_state(self):
"""The processed physical system nominal state.
If it is unset, the inner nominal state is returned."""
if self._nominal_state is None:
return self._physical_system.nominal_state
return self._nominal_state
@property
def state_names(self):
"""The processed physical system state names.
If it is unset, the state names of the inner physical system are returned."""
if self._state_names is None:
return self._physical_system.state_names
return self._state_names
def __init__(self, physical_system=None):
"""
Args:
physical_system(PhysicalSystem): (Optional) The inner physical system can be passed to directly call the
set_physical_system-method after the initialization.
"""
gem.core.PhysicalSystem.__init__(self, None, None, (), None)
RandomComponent.__init__(self)
self._physical_system = physical_system
self._limits = None
self._nominal_state = None
if physical_system is not None:
self.set_physical_system(physical_system)
[docs]
def set_physical_system(self, physical_system):
"""Sets the inner physical system of this PhysicalSystemWrapper.
Args:
physical_system(PhysicalSystem): The inner physical system or Physical System Wrapper.
"""
self._physical_system = physical_system
self._action_space = physical_system.action_space
self._state_names = physical_system.state_names
self._state_positions = {key: index for index, key in enumerate(self._state_names)}
self._tau = physical_system.tau
return self
[docs]
def seed(self, seed=None):
# docstring of super class RandomComponent
if isinstance(self._physical_system, RandomComponent):
self._physical_system.seed(seed)
def __getattr__(self, name):
return getattr(self._physical_system, name)
[docs]
def simulate(self, action):
# Docstring of super class PhysicalSystem
return self._physical_system.simulate(action)
[docs]
def reset(self, **kwargs):
# Docstring of super class PhysicalSystem
self.next_generator()
return self._physical_system.reset(**kwargs)
def __str__(self):
return "<{}{}>".format(type(self).__name__, self.physical_system)
def __repr__(self):
return str(self)