ilqgames
A new real-time solver for large-scale differential games.
modified_three_player_intersection_example.h
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
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36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Three player intersection example.
40 //
41 ///////////////////////////////////////////////////////////////////////////////
42 
43 #ifndef ILQGAMES_EXAMPLES_MODIFIED_THREE_PLAYER_INTERSECTION_EXAMPLE_H
44 #define ILQGAMES_EXAMPLES_MODIFIED_THREE_PLAYER_INTERSECTION_EXAMPLE_H
45 
46 #include <ilqgames/solver/problem.h>
47 #include <ilqgames/solver/solver_params.h>
48 #include <ilqgames/solver/top_down_renderable_problem.h>
49 
50 namespace ilqgames {
51 
53  public:
56 
57  // Construct dynamics, initial state, and player costs.
58  void ConstructDynamics();
59  void ConstructInitialState();
60  void ConstructPlayerCosts();
61 
62  // Unpack x, y, heading (for each player, potentially) from a given state.
63  std::vector<float> Xs(const VectorXf& x) const;
64  std::vector<float> Ys(const VectorXf& x) const;
65  std::vector<float> Thetas(const VectorXf& x) const;
66 }; // class ModifiedThreePlayerIntersectionExample
67 
68 } // namespace ilqgames
69 
70 #endif