minimally_invasive_receding_horizon_simulator.h

/*
 * Copyright (c) 2020, The Regents of the University of California (Regents).
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
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 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. Redistributions in binary form must reproduce the above
 *       copyright notice, this list of conditions and the following
 *       disclaimer in the documentation and/or other materials provided
 *       with the distribution.
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 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived
 *       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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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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 )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Utility for solving a problem using a receding horizon, simulating dynamics
// forward at each stage to account for the passage of time and also switching
// to a minimally-invasive control *for only the ego vehicle* if its safety
// problem detects iminent danger.
//
// This class is intended as a facsimile of a real-time, online receding horizon
// problem in which short horizon problems are solved asynchronously throughout
// operation.
//
///////////////////////////////////////////////////////////////////////////////

#ifndef ILQGAMES_EXAMPLES_MINIMALLY_INVASIVE_RECEDING_HORIZON_SIMULATOR_H
#define ILQGAMES_EXAMPLES_MINIMALLY_INVASIVE_RECEDING_HORIZON_SIMULATOR_H

#include <ilqgames/solver/game_solver.h>
#include <ilqgames/solver/solution_splicer.h>
#include <ilqgames/utils/solver_log.h>

#include <memory>
#include <vector>

namespace ilqgames {

// Enumerated type for specifying which problem is active at each invocation.
enum ActiveProblem { ORIGINAL, SAFETY };

// Solve this game following a receding horizon with a minimally-invasive
// control scheme, accounting for the time used to solve each subproblem and
// integrating dynamics forward accordingly.
std::vector<ActiveProblem> MinimallyInvasiveRecedingHorizonSimulator(
    Time final_time, Time planner_runtime, GameSolver* original,
    GameSolver* safety,
    std::vector<std::shared_ptr<const SolverLog>>* original_logs,
    std::vector<std::shared_ptr<const SolverLog>>* safety_logs);

}  // namespace ilqgames

#endif