single_player_dubins_car.cpp

/*
 * Copyright (c) 2019, 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.
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 * 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 )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Single player dynamics modeling a unicycle. 4 states and 2 control inputs.
// State is [x, y, theta, v], control is [omega, a], and dynamics are:
//                     \dot px    = v cos theta
//                     \dot py    = v sin theta
//                     \dot theta = omega
//                     \dot v     = a
//
///////////////////////////////////////////////////////////////////////////////

#include <ilqgames/dynamics/single_player_dubins_car.h>

namespace ilqgames {

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

// Constexprs for control indices.
const Dimension SinglePlayerDubinsCar::kNumUDims = 1;
const Dimension SinglePlayerDubinsCar::kOmegaIdx = 0;

}