two_player_unicycle_4d.cpp

/*
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 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Two player dynamics modeling a unicycle with velocity disturbance.
// State is [x, y, theta, v], u1 is [omega, a], u2 is [dx, dy] and dynamics are:
//                     \dot px    = v cos theta + dx
//                     \dot py    = v sin theta + dy
//                     \dot theta = omega
//                     \dot v     = a
//
///////////////////////////////////////////////////////////////////////////////

#include <ilqgames/dynamics/two_player_unicycle_4d.h>

namespace ilqgames {

// Constexprs for state indices.
const Dimension TwoPlayerUnicycle4D::kNumXDims = 4;
const Dimension TwoPlayerUnicycle4D::kPxIdx = 0;
const Dimension TwoPlayerUnicycle4D::kPyIdx = 1;
const Dimension TwoPlayerUnicycle4D::kThetaIdx = 2;
const Dimension TwoPlayerUnicycle4D::kVIdx = 3;

// Constexprs for control indices.
const PlayerIndex TwoPlayerUnicycle4D::kNumPlayers = 2;

const Dimension TwoPlayerUnicycle4D::kNumU1Dims = 2;
const Dimension TwoPlayerUnicycle4D::kOmegaIdx = 0;
const Dimension TwoPlayerUnicycle4D::kAIdx = 1;

const Dimension TwoPlayerUnicycle4D::kNumU2Dims = 2;
const Dimension TwoPlayerUnicycle4D::kDxIdx = 0;
const Dimension TwoPlayerUnicycle4D::kDyIdx = 1;

}