ilqgames
A new real-time solver for large-scale differential games.
dubins_origin_example.h
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
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36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Two Dubins cars. One tries to follow other one, which is trying to get it to
40 // go to the origin. Both also have penalties on control input, and we are
41 // interested in the difference between open-loop and feedback Nash strategies
42 // for this situation. Example conceived by Forrest Laine (
43 // forrest.laine@berkeley.edu ).
44 //
45 ///////////////////////////////////////////////////////////////////////////////
46 
47 #ifndef ILQGAMES_EXAMPLES_DUBINS_ORIGIN_EXAMPLE_H
48 #define ILQGAMES_EXAMPLES_DUBINS_ORIGIN_EXAMPLE_H
49 
50 #include <ilqgames/solver/solver_params.h>
51 #include <ilqgames/solver/top_down_renderable_problem.h>
52 
53 namespace ilqgames {
54 
56  public:
59 
60  // Construct dynamics, initial state, and player costs.
61  void ConstructDynamics();
62  void ConstructInitialState();
63  void ConstructPlayerCosts();
64 
65  // Unpack x, y, heading (for each player, potentially) from a given state.
66  std::vector<float> Xs(const VectorXf& x) const;
67  std::vector<float> Ys(const VectorXf& x) const;
68  std::vector<float> Thetas(const VectorXf& x) const;
69 }; // class DubinsOriginExample
70 
71 } // namespace ilqgames
72 
73 #endif