dubins_origin_example.h

/*
 * Copyright (c) 2020, The Regents of the University of California (Regents).
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 *    2. Redistributions in binary form must reproduce the above
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 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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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 )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Two Dubins cars. One tries to follow other one, which is trying to get it to
// go to the origin. Both also have penalties on control input, and we are
// interested in the difference between open-loop and feedback Nash strategies
// for this situation. Example conceived by Forrest Laine (
// forrest.laine@berkeley.edu ).
//
///////////////////////////////////////////////////////////////////////////////

#ifndef ILQGAMES_EXAMPLES_DUBINS_ORIGIN_EXAMPLE_H
#define ILQGAMES_EXAMPLES_DUBINS_ORIGIN_EXAMPLE_H

#include <ilqgames/solver/solver_params.h>
#include <ilqgames/solver/top_down_renderable_problem.h>

namespace ilqgames {

class DubinsOriginExample : public TopDownRenderableProblem {
 public:
  ~DubinsOriginExample() {}
  DubinsOriginExample() : TopDownRenderableProblem() {}

  // Construct dynamics, initial state, and player costs.
  void ConstructDynamics();
  void ConstructInitialState();
  void ConstructPlayerCosts();

  // Unpack x, y, heading (for each player, potentially) from a given state.
  std::vector<float> Xs(const VectorXf& x) const;
  std::vector<float> Ys(const VectorXf& x) const;
  std::vector<float> Thetas(const VectorXf& x) const;
};  // class DubinsOriginExample

}  // namespace ilqgames

#endif