A typo in feedback LQ Nash derivation pdf

HJReachability / ilqgames

Iterative Linear-Quadratic Games!

https://hjreachability.github.io/ilqgames/

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A typo in feedback LQ Nash derivation pdf #70

Closed zhonghai1995 closed 2 years ago

zhonghai1995 commented 2 years ago

Hello Professor David,

I think there is a typo in the feedback LQ Nash derivation pdf. On the right-hand side of equation (11), should we also add r_{t}^{ii}? Thanks!

dfridovi commented 2 years ago

Very good catch! As it turns out, the implementation here was correct. Not quite sure how this happened, but much obliged for the pointer. Keep them coming!

https://github.com/HJReachability/ilqgames/blob/41c90847f14dd299284190b1591259eafbd3ec23/src/lq_feedback_solver.cpp#L157