<commit_before>#include <cmath>
#include "SDL2/SDL.h"

class Environment
{
	public:
	
		explicit Environment(double _theta, double _thetadot, double _torque, double _maxtorque, double _time, double _deltatime, double _mass, double _length, double _gamma);
		~Environment();
		
		void propagate(); //Propagate the system through time
		
		double getTheta(){return std::acos(std::cos(theta));}
		double getThetadot() {return thetadot;}
		double getTorque() {return torque;}
		double getTime() {return time;}
		
		void setTorque(double _T); //Machine learning code sets the torque
		
		void resetPendulum();
		
	private:
		
		//Runge-Kutta 4 method for solving the equation of motion for a driven pendulum
		double rk4theta(double h); //RK4 solve for theta
		double rk4thetadot(double h); //RK4 solve for thetadot
		
		
		const double maxtorque; //Set a maximum torque in order to keep the pendulum 'undertorqued' (N m)
		<commit_msg>Update Environment.h<commit_after>#include <cmath>
#include "SDL2/SDL.h"

class Environment
{
	public:
	
		explicit Environment(double _theta, double _thetadot, double _torque, double _maxtorque, double _time, double _deltatime, double _mass, double _length, double _gamma);
		
		void propagate(); //Propagate the system through time
		
		double getTheta(){return std::acos(std::cos(theta));}
		double getThetadot() {return thetadot;}
		double getTorque() {return torque;}
		double getTime() {return time;}
		
		void setTorque(double _T); //Machine learning code sets the torque
		
		void resetPendulum();
		
	private:
		
		//Runge-Kutta 4 method for solving the equation of motion for a driven pendulum
		double rk4theta(double h); //RK4 solve for theta
		double rk4thetadot(double h); //RK4 solve for thetadot
		
		
		const double maxtorque; //Set a maximum torque in order to keep the pendulum 'undertorqued' (N m)
		
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