ilqgames
A new real-time solver for large-scale differential games.
single_player_car_7d.cpp
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
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36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Single player dynamics modeling a car. 6 states and 2 control inputs.
40 // State is [x, y, theta, phi, v, kappa, s], control is [omega, a], and dynamics
41 // are:
42 // \dot px = v cos theta
43 // \dot py = v sin theta
44 // \dot theta = (v / L) * tan phi
45 // \dot phi = omega
46 // \dot v = a
47 // \dot kappa = omega / (L * cos^2 phi) [ curvature ]
48 // \dot s = v [ path length ]
49 // Please refer to
50 // https://www.sciencedirect.com/science/article/pii/S2405896316301215
51 // for further details.
52 //
53 ///////////////////////////////////////////////////////////////////////////////
54 
55 #include <ilqgames/dynamics/single_player_car_7d.h>
56 
57 namespace ilqgames {
58 
59 // Constexprs for state indices.
60 const Dimension SinglePlayerCar7D::kNumXDims = 7;
61 const Dimension SinglePlayerCar7D::kPxIdx = 0;
62 const Dimension SinglePlayerCar7D::kPyIdx = 1;
63 const Dimension SinglePlayerCar7D::kThetaIdx = 2;
64 const Dimension SinglePlayerCar7D::kPhiIdx = 3;
65 const Dimension SinglePlayerCar7D::kVIdx = 4;
66 const Dimension SinglePlayerCar7D::kKappaIdx = 5;
67 const Dimension SinglePlayerCar7D::kSIdx = 6;
68 
69 // Constexprs for control indices.
70 const Dimension SinglePlayerCar7D::kNumUDims = 2;
71 const Dimension SinglePlayerCar7D::kOmegaIdx = 0;
72 const Dimension SinglePlayerCar7D::kAIdx = 1;
73 
74 } // namespace ilqgames