ilqgames
A new real-time solver for large-scale differential games.
three_player_flat_intersection_example.h
1 /*
2  * Copyright (c) 2019, The Regents of the University of California (Regents).
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are
7  * met:
8  *
9  * 1. Redistributions of source code must retain the above copyright
10  * notice, this list of conditions and the following disclaimer.
11  *
12  * 2. Redistributions in binary form must reproduce the above
13  * copyright notice, this list of conditions and the following
14  * disclaimer in the documentation and/or other materials provided
15  * with the distribution.
16  *
17  * 3. Neither the name of the copyright holder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
22  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
25  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
26  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
27  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
28  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
29  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
30  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  *
33  * Please contact the author(s) of this library if you have any questions.
34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
35  */
36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Three player intersection example.
40 //
41 ///////////////////////////////////////////////////////////////////////////////
42 
43 #ifndef ILQGAMES_EXAMPLES_THREE_PLAYER_FLAT_INTERSECTION_EXAMPLE_H
44 #define ILQGAMES_EXAMPLES_THREE_PLAYER_FLAT_INTERSECTION_EXAMPLE_H
45 
46 #include <ilqgames/dynamics/multi_player_flat_system.h>
47 #include <ilqgames/solver/problem.h>
48 #include <ilqgames/solver/solver_params.h>
49 #include <ilqgames/solver/top_down_renderable_problem.h>
50 
51 namespace ilqgames {
52 
54  public:
57 
58  // Construct dynamics, initial state, and player costs.
59  void ConstructDynamics();
60  void ConstructInitialState();
61  void ConstructPlayerCosts();
62 
63  // Unpack x, y, heading (for each player, potentially) from a given linear
64  // system state.
65  std::vector<float> Xs(const VectorXf& xi) const;
66  std::vector<float> Ys(const VectorXf& xi) const;
67  std::vector<float> Thetas(const VectorXf& xi) const;
68 
69  // Dynamics as shared ptr.
70  std::shared_ptr<const MultiPlayerFlatSystem> Dynamics() const {
71  return dynamics_;
72  }
73 
74  private:
75  // Dynamics as shared ptr.
76  std::shared_ptr<const MultiPlayerFlatSystem> dynamics_;
77 }; // class ThreePlayerFlatIntersectionExample
78 
79 } // namespace ilqgames
80 
81 #endif