ilqgames
A new real-time solver for large-scale differential games.
compute_strategy_costs.h
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
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36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Compute costs for each player associated with this set of strategies and
40 // operating point.
41 //
42 ///////////////////////////////////////////////////////////////////////////////
43 
44 #ifndef ILQGAMES_UTILS_COMPUTE_STRATEGY_COSTS_H
45 #define ILQGAMES_UTILS_COMPUTE_STRATEGY_COSTS_H
46 
47 #include <ilqgames/cost/player_cost.h>
48 #include <ilqgames/dynamics/multi_player_flat_system.h>
49 #include <ilqgames/dynamics/multi_player_integrable_system.h>
50 #include <ilqgames/solver/problem.h>
51 #include <ilqgames/utils/operating_point.h>
52 #include <ilqgames/utils/quadratic_cost_approximation.h>
53 #include <ilqgames/utils/strategy.h>
54 #include <ilqgames/utils/types.h>
55 
56 #include <glog/logging.h>
57 #include <Eigen/Dense>
58 #include <random>
59 #include <vector>
60 
61 namespace ilqgames {
62 
63 // Compute cost of a set of strategies for each player.
64 std::vector<float> ComputeStrategyCosts(
65  const std::vector<PlayerCost>& player_costs,
66  const std::vector<Strategy>& strategies,
67  const OperatingPoint& operating_point,
68  const MultiPlayerIntegrableSystem& dynamics, const VectorXf& x0,
69  bool open_loop = false);
70 std::vector<float> ComputeStrategyCosts(const Problem& problem,
71  bool open_loop = false);
72 
73 } // namespace ilqgames
74 
75 #endif