flat_roundabout_merging_example.h

/*
 * Copyright (c) 2019, The Regents of the University of California (Regents).
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 *       from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Roundabout merging example for feedback linearizable systems.
//
///////////////////////////////////////////////////////////////////////////////

#ifndef ILQGAMES_EXAMPLES_ROUNDABOUT_MERGING_EXAMPLE_H
#define ILQGAMES_EXAMPLES_ROUNDABOUT_MERGING_EXAMPLE_H

#include <ilqgames/dynamics/concatenated_flat_system.h>
#include <ilqgames/dynamics/multi_player_flat_system.h>
#include <ilqgames/solver/problem.h>
#include <ilqgames/solver/solver_params.h>
#include <ilqgames/solver/top_down_renderable_problem.h>

namespace ilqgames {

class FlatRoundaboutMergingExample : public TopDownRenderableProblem {
 public:
  ~FlatRoundaboutMergingExample() {}
  FlatRoundaboutMergingExample() : TopDownRenderableProblem() {}

  // Construct dynamics, initial state, initial operating point, player costs.
  void ConstructDynamics();
  void ConstructInitialState();
  void ConstructInitialOperatingPoint();
  void ConstructPlayerCosts();

  // Unpack x, y, heading (for each player, potentially) from a given state.
  std::vector<float> Xs(const VectorXf& xi) const;
  std::vector<float> Ys(const VectorXf& xi) const;
  std::vector<float> Thetas(const VectorXf& xi) const;

  // Dynamics as shared ptr.
  std::shared_ptr<const ConcatenatedFlatSystem> Dynamics() const {
    return dynamics_;
  }

 private:
  // Dynamics as shared ptr.
  std::shared_ptr<const ConcatenatedFlatSystem> dynamics_;
};  // class FlatRoundaboutMergingExample

}  // namespace ilqgames

#endif