ilqgames
A new real-time solver for large-scale differential games.
skeleton_example.h
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
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36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Simple skeleton example intended as a quick-start guide for learning to use
40 // this repository. This file is extensively commented; however, if you do have
41 // any questions please don't hesitate to post an issue on the repository
42 // (https://github.com/HJReachability/ilqgames/issues) or contact the author.
43 //
44 ///////////////////////////////////////////////////////////////////////////////
45 
46 #ifndef ILQGAMES_EXAMPLES_SKELETON_EXAMPLE_H
47 #define ILQGAMES_EXAMPLES_SKELETON_EXAMPLE_H
48 
49 #include <ilqgames/solver/solver_params.h>
50 #include <ilqgames/solver/top_down_renderable_problem.h>
51 
52 namespace ilqgames {
53 
55  public:
56  ~SkeletonExample() {}
58 
59  // Construct dynamics, initial state, and player costs.
60  void ConstructDynamics();
61  void ConstructInitialState();
62  void ConstructPlayerCosts();
63 
64  // Unpack x, y, heading (for each player, potentially) from a given state.
65  std::vector<float> Xs(const VectorXf& x) const;
66  std::vector<float> Ys(const VectorXf& x) const;
67  std::vector<float> Thetas(const VectorXf& x) const;
68 }; // class SkeletonExample
69 
70 } // namespace ilqgames
71 
72 #endif