ilqgames
A new real-time solver for large-scale differential games.
Public Member Functions | List of all members
ilqgames::ProximityConstraint Class Reference
Inheritance diagram for ilqgames::ProximityConstraint:
ilqgames::TimeInvariantConstraint ilqgames::Constraint ilqgames::Cost ilqgames::RelativeTimeTracker

Public Member Functions

 ProximityConstraint (const std::pair< Dimension, Dimension > &dims1, const std::pair< Dimension, Dimension > &dims2, float threshold, bool keep_within, const std::string &name="")
 
float Evaluate (const VectorXf &input) const
 
void Quadraticize (Time t, const VectorXf &input, MatrixXf *hess, VectorXf *grad) const
 
- Public Member Functions inherited from ilqgames::TimeInvariantConstraint
float Evaluate (Time t, const VectorXf &input) const
 
- Public Member Functions inherited from ilqgames::Constraint
bool IsSatisfied (Time t, const VectorXf &input, float *level) const
 
bool IsSatisfied (float level) const
 
float EvaluateAugmentedLagrangian (Time t, const VectorXf &input) const
 
bool IsEquality () const
 
float & Lambda (Time t)
 
float Lambda (Time t) const
 
void IncrementLambda (Time t, float value)
 
void ScaleLambdas (float scale)
 
float Mu (Time t, const VectorXf &input) const
 
float Mu (float lambda, float g) const
 
- Public Member Functions inherited from ilqgames::Cost
void SetWeight (float weight)
 
void ScaleWeight (float scale)
 
- Public Member Functions inherited from ilqgames::RelativeTimeTracker
const std::string & Name () const
 

Additional Inherited Members

- Static Public Member Functions inherited from ilqgames::Constraint
static float & GlobalMu ()
 
static void ScaleMu (float scale)
 
- Static Public Member Functions inherited from ilqgames::RelativeTimeTracker
static void ResetInitialTime (Time t0)
 
static Time InitialTime ()
 
static Time RelativeTime (size_t kk)
 
static Time AbsoluteTime (size_t kk)
 
static size_t TimeIndex (Time t)
 
- Protected Member Functions inherited from ilqgames::TimeInvariantConstraint
 TimeInvariantConstraint (bool is_equality, const std::string &name)
 
- Protected Member Functions inherited from ilqgames::Constraint
 Constraint (bool is_equality, const std::string &name)
 
void ModifyDerivatives (Time t, float g, float *dx, float *ddx, float *dy=nullptr, float *ddy=nullptr, float *dxdy=nullptr) const
 
- Protected Member Functions inherited from ilqgames::Cost
 Cost (float weight, const std::string &name)
 
- Protected Member Functions inherited from ilqgames::RelativeTimeTracker
 RelativeTimeTracker (const std::string &name)
 
- Protected Attributes inherited from ilqgames::Constraint
bool is_equality_
 
std::vector< float > lambdas_
 
- Protected Attributes inherited from ilqgames::Cost
float weight_
 
- Protected Attributes inherited from ilqgames::RelativeTimeTracker
const std::string name_
 
- Static Protected Attributes inherited from ilqgames::Constraint
static float mu_ = constants::kDefaultMu
 
- Static Protected Attributes inherited from ilqgames::RelativeTimeTracker
static Time initial_time_ = 0.0
 

Detailed Description

Definition at line 59 of file proximity_constraint.h.


The documentation for this class was generated from the following files: