single_player_delayed_dubins_car.cpp

/*
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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 )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Single player dynamics modeling a Dubins car with input delay. 4 states and 1
// control input. State is [x, y, theta, omega], control is [alpha], and
// dynamics are:
//                     \dot px    = v cos theta
//                     \dot py    = v sin theta
//                     \dot theta = omega
//                     \dot omega = alpha
//
///////////////////////////////////////////////////////////////////////////////

#include <ilqgames/dynamics/single_player_delayed_dubins_car.h>

namespace ilqgames {

// Constexprs for state indices.
const Dimension SinglePlayerDelayedDubinsCar::kNumXDims = 4;
const Dimension SinglePlayerDelayedDubinsCar::kPxIdx = 0;
const Dimension SinglePlayerDelayedDubinsCar::kPyIdx = 1;
const Dimension SinglePlayerDelayedDubinsCar::kThetaIdx = 2;
const Dimension SinglePlayerDelayedDubinsCar::kOmegaIdx = 3;

// Constexprs for control indices.
const Dimension SinglePlayerDelayedDubinsCar::kNumUDims = 1;
const Dimension SinglePlayerDelayedDubinsCar::kAlphaIdx = 0;

}  // namespace ilqgames