From c26ba349148ece09f7439ca7bf2755165a1b4a67 Mon Sep 17 00:00:00 2001
From: nishantkr18 <nishantkr.ece18@itbhu.ac.in>
Date: Fri, 10 Apr 2020 23:40:47 +0530
Subject: [PATCH] removed AngleThreshold

---
 .../reinforcement_learning/environment/pendulum.hpp      | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/src/mlpack/methods/reinforcement_learning/environment/pendulum.hpp b/src/mlpack/methods/reinforcement_learning/environment/pendulum.hpp
index 0859583ed3..43ec0ac44b 100644
--- a/src/mlpack/methods/reinforcement_learning/environment/pendulum.hpp
+++ b/src/mlpack/methods/reinforcement_learning/environment/pendulum.hpp
@@ -94,8 +94,6 @@ class Pendulum
    * @param maxAngularVelocity Maximum angular velocity.
    * @param maxTorque Maximum torque.
    * @param dt The differential value.
-   * @param angleThreshold The region about the upright position where the
-   *    state is considered terminal.
    * @param doneReward The reward recieved by the agent on success.
    * @param maxSteps The number of steps after which the episode
    *    terminates. If the value is 0, there is no limit (Default: 200 steps). 
@@ -103,13 +101,11 @@ class Pendulum
   Pendulum(const double maxAngularVelocity = 8,
            const double maxTorque = 2.0,
            const double dt = 0.05,
-           const double angleThreshold = M_PI / 12,
            const double doneReward = 0.0,
            const size_t maxSteps = 200) :
       maxAngularVelocity(maxAngularVelocity),
       maxTorque(maxTorque),
       dt(dt),
-      angleThreshold(angleThreshold),
       doneReward(doneReward),
       maxSteps(maxSteps),
       stepsPerformed(0)
@@ -191,7 +187,7 @@ class Pendulum
   State InitialSample()
   {
     State state;
-    state.Theta() = math::Random(-M_PI + angleThreshold, M_PI - angleThreshold);
+    state.Theta() = math::Random(-M_PI, M_PI);
     state.AngularVelocity() = math::Random(-1.0, 1.0);
     stepsPerformed = 0;
     return state;
@@ -246,9 +242,6 @@ class Pendulum
   //! Locally-stored dt.
   double dt;
 
-  //! Locally-stored angle threshold.
-  double angleThreshold;
-
   //! Locally-stored done reward.
   double doneReward;