single_player_point_mass_2d.cpp

/*
 * Copyright (c) 2020, The Regents of the University of California (Regents).
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 *       from this software without specific prior written permission.
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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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 * 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 )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Single player dynamics modeling a 2D point mass. 4 states, 2 control inputs.
// State is [x, y, xdot, ydot], control is [ax, ay], and dynamics are:
//                     \dot px    = vx
//                     \dot py    = vy
//                     \dot vx    = ax
//                     \dot vy    = ay
///////////////////////////////////////////////////////////////////////////////

#include <ilqgames/dynamics/single_player_point_mass_2d.h>

namespace ilqgames {

// Constexprs for state indices.
const Dimension SinglePlayerPointMass2D::kNumXDims = 4;
const Dimension SinglePlayerPointMass2D::kPxIdx = 0;
const Dimension SinglePlayerPointMass2D::kPyIdx = 1;
const Dimension SinglePlayerPointMass2D::kVxIdx = 2;
const Dimension SinglePlayerPointMass2D::kVyIdx = 3;

// Constexprs for control indices.
const Dimension SinglePlayerPointMass2D::kNumUDims = 2;
const Dimension SinglePlayerPointMass2D::kAxIdx = 0;
const Dimension SinglePlayerPointMass2D::kAyIdx = 1;

}  // namespace ilqgames