ilqgames
A new real-time solver for large-scale differential games.
Public Member Functions | Static Public Attributes | List of all members
ilqgames::SinglePlayerFlatUnicycle4D Class Reference
Inheritance diagram for ilqgames::SinglePlayerFlatUnicycle4D:
ilqgames::SinglePlayerFlatSystem

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
 

Static Public Attributes

static const Dimension kNumXDims = 4
 
static const Dimension kPxIdx = 0
 
static const Dimension kPyIdx = 1
 
static const Dimension kThetaIdx = 2
 
static const Dimension kVIdx = 3
 
static const Dimension kVxIdx = 2
 
static const Dimension kVyIdx = 3
 
static const Dimension kNumUDims = 2
 
static const Dimension kOmegaIdx = 0
 
static const Dimension kAIdx = 1
 

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_
 

Detailed Description

Definition at line 62 of file single_player_flat_unicycle_4d.h.


The documentation for this class was generated from the following files: