ilqgames
A new real-time solver for large-scale differential games.
linear_dynamics_approximation.h
1 /*
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
35  */
36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Container to store a linear approximation of the dynamics at a particular
40 // time.
41 //
42 ///////////////////////////////////////////////////////////////////////////////
43 
44 #ifndef ILQGAMES_UTILS_LINEAR_DYNAMICS_APPROXIMATION_H
45 #define ILQGAMES_UTILS_LINEAR_DYNAMICS_APPROXIMATION_H
46 
47 #include <ilqgames/utils/types.h>
48 
49 #include <vector>
50 
51 namespace ilqgames {
52 
54  MatrixXf A;
55  std::vector<MatrixXf> Bs;
56 
57  // Default constructor.
59 
60  // Construct from a MultiPlayerDynamicalSystem. Templated to avoid include
61  // cycle. Initialize A to identity and Bs to zero (since this is for a
62  // discrete-time linearization).
63  template <typename MultiPlayerSystemType>
64  explicit LinearDynamicsApproximation(const MultiPlayerSystemType& system)
65  : A(MatrixXf::Identity(system.XDim(), system.XDim())),
66  Bs(system.NumPlayers()) {
67  for (size_t ii = 0; ii < system.NumPlayers(); ii++)
68  Bs[ii] = MatrixXf::Zero(system.XDim(), system.UDim(ii));
69  }
70 
71  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
72 }; // struct LinearDynamicsApproximation
73 
74 } // namespace ilqgames
75 
76 #endif