air_3d.cpp

/*
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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 )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Air3D dynamics, from:
// https://www.cs.ubc.ca/~mitchell/Papers/publishedIEEEtac05.pdf.
//
// Here, two Dubins cars are navigating in relative coordinates, and the usual
// setup is a pursuit-evasion game.
//
// Dynamics are:
//                 \dot r_x = -v_e + v_p cos(r_theta) + u_e r_y
//                 \dot r_y = v_p sin(r_theta) - u_e r_x
//                 \dot r_theta = u_p - u_e
// and the convention below is that controls are "omega" and the evader is P1
// and the pursuer is P2.
//
///////////////////////////////////////////////////////////////////////////////

#include <ilqgames/dynamics/air_3d.h>

namespace ilqgames {

// Constexprs for state indices.
const Dimension Air3D::kNumXDims = 3;
const Dimension Air3D::kRxIdx = 0;
const Dimension Air3D::kRyIdx = 1;
const Dimension Air3D::kRThetaIdx = 2;

// Constexprs for control indices.
const PlayerIndex Air3D::kNumPlayers = 2;

const Dimension Air3D::kNumU1Dims = 1;
const Dimension Air3D::kOmega1Idx = 0;

const Dimension Air3D::kNumU2Dims = 1;
const Dimension Air3D::kOmega2Idx = 0;
}