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from mlpro.bf.control.controllers.pid_controller import PIDController | ||
from mlpro.bf.streams import InstDict | ||
from mlpro.rl import Policy, FctReward | ||
from mlpro.oa.control.basics import OAController | ||
from mlpro.bf.math.basics import Log,Set,MSpace | ||
from mlpro.bf.mt import Log, Task | ||
from mlpro.bf.systems import Action | ||
from mlpro.bf.control.basics import CTRLError, ControlError, Controller | ||
from mlpro.bf.systems.basics import ActionElement | ||
from mlpro.bf.various import Log | ||
from mlpro.bf.streams import InstDict, Instance | ||
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class RLController(OAController): | ||
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C_TYPE= 'RL PID-Controller' | ||
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def __init__(self, p_name: str = None, p_range_max=Task.C_RANGE_THREAD, p_duplicate_data: bool = False, p_visualize: bool = False, | ||
p_logging=Log.C_LOG_ALL,p_error_id:int = 0,p_cls_policy:type = None, p_param_policy = None,p_fct_reward:FctReward = None ,**p_kwargs): | ||
super().__init__(p_name, p_range_max, p_duplicate_data, p_visualize, p_logging, **p_kwargs) | ||
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class RLPIDController(RLController): | ||
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def __init__(self, p_name: str = None, p_range_max=Task.C_RANGE_THREAD, p_duplicate_data: bool = False, p_visualize: bool = False, | ||
p_logging=Log.C_LOG_ALL, p_error_id: int = 0, p_cls_policy: type = None, p_param_policy=None, p_fct_reward: FctReward = None,pid_controller:PIDController = None,**p_kwargs): | ||
super().__init__(p_name, p_range_max, p_duplicate_data, p_visualize, p_logging, p_error_id, p_cls_policy, p_param_policy, p_fct_reward,**p_kwargs) | ||
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self._policy = self._setup_policy(p_param_policy) | ||
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self._pid_controller = pid_controller | ||
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def _setup_policy_action_space(self) -> MSpace: | ||
pass | ||
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def _setup_policy(self,**kwags)-> Policy: | ||
return Policy() | ||
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def _run(self, p_inst:InstDict): | ||
self._adapt() | ||
action = self.compute_action(p_inst.values()[0]) | ||
return action | ||
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def compute_action(self, p_ctrl_error: ControlError) -> Action: | ||
return self._pid_controller.compute_action(p_ctrl_error) | ||
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def _adapt(self): | ||
pass | ||
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