modified_air_3d_example.h

/*
 * Copyright (c) 2020, The Regents of the University of California (Regents).
 * All rights reserved.
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 *
 *    2. Redistributions in binary form must reproduce the above
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 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * 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 )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Two player Air3D example from:
// https://www.cs.ubc.ca/~mitchell/Papers/publishedIEEEtac05.pdf.
//
// Modified such that it does *not* use relative dynamics and instead considers
// the motion of each player separately.
//
///////////////////////////////////////////////////////////////////////////////

#ifndef ILQGAMES_EXAMPLES_MODIFIED_AIR_3D_EXAMPLE_H
#define ILQGAMES_EXAMPLES_MODIFIED_AIR_3D_EXAMPLE_H

#include <ilqgames/solver/solver_params.h>
#include <ilqgames/solver/top_down_renderable_problem.h>

namespace ilqgames {

class ModifiedAir3DExample : public TopDownRenderableProblem {
 public:
  ~ModifiedAir3DExample() {}
  ModifiedAir3DExample() : TopDownRenderableProblem() {}

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

  // Unpack x, y, heading (for each player, potentially) from a given state.
  std::vector<float> Xs(const VectorXf& x) const;
  std::vector<float> Ys(const VectorXf& x) const;
  std::vector<float> Thetas(const VectorXf& x) const;
};  // class ModifiedAir3DExample

}  // namespace ilqgames

#endif