https://github.com/colgreen/cartpole-physics
C# source code for simulation of the cart and pole balancing task.
https://github.com/colgreen/cartpole-physics
ai cart-pole inverted-pendulum physics-simulation reinforcement-learning
Last synced: 14 days ago
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C# source code for simulation of the cart and pole balancing task.
- Host: GitHub
- URL: https://github.com/colgreen/cartpole-physics
- Owner: colgreen
- Created: 2019-12-31T19:24:29.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2025-02-01T21:18:02.000Z (8 months ago)
- Last Synced: 2025-02-01T22:23:30.040Z (8 months ago)
- Topics: ai, cart-pole, inverted-pendulum, physics-simulation, reinforcement-learning
- Language: C#
- Homepage:
- Size: 1.67 MB
- Stars: 6
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# cartpole-physics
C# source code for simulation of the cart and pole balancing task.
For details of this task, including derivations of the equations of motion, see the following technical research paper:
[Equations of Motion for the Cart and Pole Control Task](https://sharpneat.sourceforge.io/research/cart-pole/cart-pole-equations.html)
The source code in this reposistory can be considered to be supplementary material for that paper.
## Repository Overview
This repository contains C# source code (src folder) for the cart-pole balancing task, and some R/ggplot2 scripts (r-ggplot2 folder) for creating plots for the above linked research paper.
## Source Code Overview
The source is written in C# and targets .NET Standard 2.1 and .NET Core 3.1. However, the physics/maths code should be easy to port to
any other language.
Visual Studio 2019 was used to author the code, and thus the source code is structured as a containing Visual Studio 'solution' (CartPolePhysics.sln),
with three projects within it. These are:
### CartPolePhysics
This project contains the maths/physics source code. The project targets .NET Standard 2.1 as this provides a MathF class that is used for
the code that operates with single precision floating point variables, most notably MathF.Sin() and Cos().
* Double
* CartSinglePoleEquations.cs
* Contains the equations of motion for the cart-pole model, giving the horizontal acceleration of the cart and the angular acceleration
of the pole for a given model state and external force f (a horizontal force pushing the cart left or right).
* CartSinglePolePhysics.cs
* Contains an instance of CartSinglePoleEquations, and applies Euler's method to update the model state from one timestep to the next.
This is also the base class for CartSinglePolePhysicsRK2 and CartSinglePolePhysicsRK4.
* CartSinglePolePhysicsRK2.cs
* Contains an instance of CartSinglePoleEquations, and applies the standard second-order Runge-Kutta method to update the model
state from one timestep to the next.
* CartSinglePolePhysicsRK4.cs
* Contains an instance of CartSinglePoleEquations, and applies the classic fourth-order Runge-Kutta method to update the model
state from one timestep to the next.
* Single
* The classes in this folder/namespace mirror exactly those of the 'Double' folder, but provide physics calculation based on
single precision floating point maths.
### CartPoleConsole
A small console app that can be used to run a simulation and save a CSV fiel containing the model state at each timestep. These CSV files
can then be used to make plots, e.g. with R and ggplot2.
### CartPoleWinForms
A small Windows Forms app that targets .NET Core 3.1. The ability to run Winforms apps in .NET Core is a recent addition to that platform,
and this is only possible when the app is running on Microsoft Windows.
This app runs a simulation and shows a graph on screen of pole angle, cart position, and pole angular velocity over time.