Program Listing for File envs_utils.h

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// SPDX-FileCopyrightText: 2024 <copyright holder> <email>
// SPDX-License-Identifier: Apache-2.0

#ifndef ENVS_UTILS_H
#define ENVS_UTILS_H

#include "rlenvs/rlenvs_types_v2.h"
#include "rlenvs/rlenvscpp_config.h"

#include <vector>

#ifdef RLENVSCPP_DEBUG
#include <cassert>
#endif

namespace rlenvscpp{
namespace envs{

template<typename EnvType, typename ActionSelector>
std::vector<typename EnvType::time_step_type>
create_trajectory(EnvType& env, ActionSelector& action_selector, uint_t max_steps){

#ifdef RLENVSCPP_DEBUG
    assert(max_steps >= 1 && "Attempt to generate environment trajector with max_steps < 1");
#endif

    typedef typename EnvType::time_step_type time_step_type;

    std::vector<time_step_type> trajectory;
    trajectory.reserve(max_steps);

    auto done = false;

    while(!done){
       auto time_step = env.reset();

       // loop infinitely
       uint_t counter = 0;
       while(true){

           // select the action given the observation
           auto action = action_selector(time_step.observation());

           auto new_time_step = env.step(action);
           done = new_time_step.done();
           trajectory.push_back(new_time_step);

           if(new_time_step.done()){
               break;
           }

           if(counter >= max_steps - 1){
               trajectory.clear();
               break;
           }

           time_step = new_time_step;
       }
    }

    return trajectory;

}

} // envs
}// rlenvs_cpp

#endif // ENVS_UTILS_H