single_player_flat_unicycle_4d.cpp

/*
 * Copyright (c) 2019, The Regents of the University of California (Regents).
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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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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Single player dynamics modeling a unicycle. 4 states and 2 control inputs.
// State is [x, y, theta, v], control is [omega, a], and dynamics are:
//                     \dot px    = v cos theta
//                     \dot py    = v sin theta
//                     \dot theta = omega
//                     \dot v     = a
//
//  Linear system state xi is laid out as [x, y, vx, vy]:
//                     vx = v * cos(theta)
//                     vy = v * sin(theta)
//
///////////////////////////////////////////////////////////////////////////////

#include <ilqgames/dynamics/single_player_flat_unicycle_4d.h>

namespace ilqgames {

// Constexprs for state indices.
const Dimension SinglePlayerFlatUnicycle4D::kNumXDims = 4;
const Dimension SinglePlayerFlatUnicycle4D::kPxIdx = 0;
const Dimension SinglePlayerFlatUnicycle4D::kPyIdx = 1;
const Dimension SinglePlayerFlatUnicycle4D::kThetaIdx = 2;
const Dimension SinglePlayerFlatUnicycle4D::kVIdx = 3;
const Dimension SinglePlayerFlatUnicycle4D::kVxIdx = 2;
const Dimension SinglePlayerFlatUnicycle4D::kVyIdx = 3;

// Constexprs for control indices.
const Dimension SinglePlayerFlatUnicycle4D::kNumUDims = 2;
const Dimension SinglePlayerFlatUnicycle4D::kOmegaIdx = 0;
const Dimension SinglePlayerFlatUnicycle4D::kAIdx = 1;

}