ilqgames
A new real-time solver for large-scale differential games.
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Public Member Functions | |
VectorXf | Evaluate (const VectorXf &x, const VectorXf &u) const |
void | LinearizedSystem (Eigen::Ref< MatrixXf > A, Eigen::Ref< MatrixXf > B) const |
MatrixXf | InverseDecouplingMatrix (const VectorXf &x) const |
VectorXf | AffineTerm (const VectorXf &x) const |
VectorXf | ToLinearSystemState (const VectorXf &x) const |
VectorXf | FromLinearSystemState (const VectorXf &xi) const |
void | Partial (const VectorXf &xi, std::vector< VectorXf > *grads, std::vector< MatrixXf > *hesses) const |
bool | IsLinearSystemStateSingular (const VectorXf &xi) const |
float | DistanceBetween (const VectorXf &x0, const VectorXf &x1) const |
std::vector< Dimension > | PositionDimensions () const |
Public Member Functions inherited from ilqgames::SinglePlayerFlatSystem | |
VectorXf | LinearizingControl (const VectorXf &x, const VectorXf &v) const |
Dimension | XDim () const |
Dimension | UDim () const |
Additional Inherited Members | |
Protected Member Functions inherited from ilqgames::SinglePlayerFlatSystem | |
SinglePlayerFlatSystem (Dimension xdim, Dimension udim) | |
Protected Attributes inherited from ilqgames::SinglePlayerFlatSystem | |
const Dimension | xdim_ |
const Dimension | udim_ |
Definition at line 62 of file single_player_flat_unicycle_4d.h.