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ilqgames
A new real-time solver for large-scale differential games.
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Public Member Functions | |
| ConcatenatedFlatSystem (const FlatSubsystemList &subsystems) | |
| VectorXf | Evaluate (const VectorXf &x, const std::vector< VectorXf > &us) const |
| void | ComputeLinearizedSystem () const |
| MatrixXf | InverseDecouplingMatrix (const VectorXf &x) const |
| VectorXf | AffineTerm (const VectorXf &x) const |
| VectorXf | LinearizingControl (const VectorXf &x, const VectorXf &v, PlayerIndex player) const |
| std::vector< VectorXf > | LinearizingControls (const VectorXf &x, const std::vector< VectorXf > &vs) const |
| VectorXf | ToLinearSystemState (const VectorXf &x) const |
| VectorXf | ToLinearSystemState (const VectorXf &x, PlayerIndex subsystem_idx) const |
| VectorXf | FromLinearSystemState (const VectorXf &xi) const |
| VectorXf | FromLinearSystemState (const VectorXf &xi, PlayerIndex subsystem_idx) const |
| bool | IsLinearSystemStateSingular (const VectorXf &xi) const |
| VectorXf | SubsystemStates (const VectorXf &x, PlayerIndex subsystem_idx) const |
| void | ChangeCostCoordinates (const VectorXf &xi, std::vector< QuadraticCostApproximation > *q) const |
| void | ChangeControlCostCoordinates (const VectorXf &xi, std::vector< QuadraticCostApproximation > *q) const |
| float | DistanceBetween (const VectorXf &x0, const VectorXf &x1) const |
| const FlatSubsystemList & | Subsystems () const |
| PlayerIndex | NumPlayers () const |
| Dimension | SubsystemXDim (PlayerIndex player_idx) const |
| Dimension | SubsystemStartDim (PlayerIndex player_idx) const |
| Dimension | UDim (PlayerIndex player_idx) const |
| std::vector< Dimension > | PositionDimensions () const |
 Public Member Functions inherited from ilqgames::MultiPlayerFlatSystem | |
| VectorXf | Integrate (Time time_interval, const VectorXf &xi0, const std::vector< VectorXf > &vs) const |
| VectorXf | Integrate (Time t0, Time time_interval, const VectorXf &xi0, const std::vector< VectorXf > &vs) const |
| bool | TreatAsLinear () const |
| const LinearDynamicsApproximation & | LinearizedSystem () const |
| Public Member Functions inherited from ilqgames::MultiPlayerIntegrableSystem | |
| VectorXf | Integrate (Time t0, Time t, const VectorXf &x0, const OperatingPoint &operating_point, const std::vector< Strategy > &strategies) const |
| VectorXf | Integrate (size_t initial_timestep, size_t final_timestep, const VectorXf &x0, const OperatingPoint &operating_point, const std::vector< Strategy > &strategies) const |
| VectorXf | IntegrateToNextTimeStep (Time t0, const VectorXf &x0, const OperatingPoint &operating_point, const std::vector< Strategy > &strategies) const |
| VectorXf | IntegrateFromPriorTimeStep (Time t, const VectorXf &x0, const OperatingPoint &operating_point, const std::vector< Strategy > &strategies) const |
| VectorXf | Integrate (Time t0, Time time_interval, const Eigen::Ref< VectorXf > &x0, const std::vector< Eigen::Ref< VectorXf >> &us) const |
| virtual VectorXf | Stitch (const VectorXf &x_ego, const VectorXf &x_others) const |
| Dimension | XDim () const |
| Dimension | TotalUDim () const |
Additional Inherited Members | |
| Static Public Member Functions inherited from ilqgames::MultiPlayerIntegrableSystem | |
| static void | IntegrateUsingEuler () |
| static void | IntegrateUsingRK4 () |
| static bool | IntegrationUsesEuler () |
| Protected Member Functions inherited from ilqgames::MultiPlayerFlatSystem | |
| MultiPlayerFlatSystem (Dimension xdim) | |
| Protected Member Functions inherited from ilqgames::MultiPlayerIntegrableSystem | |
| MultiPlayerIntegrableSystem (Dimension xdim) | |
| Protected Attributes inherited from ilqgames::MultiPlayerFlatSystem | |
| std::unique_ptr< const LinearDynamicsApproximation > | discrete_linear_system_ |
| std::unique_ptr< const LinearDynamicsApproximation > | continuous_linear_system_ |
| Protected Attributes inherited from ilqgames::MultiPlayerIntegrableSystem | |
| const Dimension | xdim_ |
| Static Protected Attributes inherited from ilqgames::MultiPlayerIntegrableSystem | |
| static bool | integrate_using_euler_ = false |
Definition at line 56 of file concatenated_flat_system.h.
1.8.11
