ilqgames
A new real-time solver for large-scale differential games.
two_player_unicycle_4d.cpp
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34  * Authors: David Fridovich-Keil ( dfk@eecs.berkeley.edu )
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36 
37 ///////////////////////////////////////////////////////////////////////////////
38 //
39 // Two player dynamics modeling a unicycle with velocity disturbance.
40 // State is [x, y, theta, v], u1 is [omega, a], u2 is [dx, dy] and dynamics are:
41 // \dot px = v cos theta + dx
42 // \dot py = v sin theta + dy
43 // \dot theta = omega
44 // \dot v = a
45 //
46 ///////////////////////////////////////////////////////////////////////////////
47 
48 #include <ilqgames/dynamics/two_player_unicycle_4d.h>
49 
50 namespace ilqgames {
51 
52 // Constexprs for state indices.
53 const Dimension TwoPlayerUnicycle4D::kNumXDims = 4;
54 const Dimension TwoPlayerUnicycle4D::kPxIdx = 0;
55 const Dimension TwoPlayerUnicycle4D::kPyIdx = 1;
56 const Dimension TwoPlayerUnicycle4D::kThetaIdx = 2;
57 const Dimension TwoPlayerUnicycle4D::kVIdx = 3;
58 
59 // Constexprs for control indices.
60 const PlayerIndex TwoPlayerUnicycle4D::kNumPlayers = 2;
61 
62 const Dimension TwoPlayerUnicycle4D::kNumU1Dims = 2;
63 const Dimension TwoPlayerUnicycle4D::kOmegaIdx = 0;
64 const Dimension TwoPlayerUnicycle4D::kAIdx = 1;
65 
66 const Dimension TwoPlayerUnicycle4D::kNumU2Dims = 2;
67 const Dimension TwoPlayerUnicycle4D::kDxIdx = 0;
68 const Dimension TwoPlayerUnicycle4D::kDyIdx = 1;
69 
70 }