- in trajectory game definition, add adjacency matrix as an argument
- shared constraint defintion, make the hyperplane parameters come from \theta
- ensure that timestep delta is correctly accounted for.
- add thrust limits
- compute angle between players for more than 2 players
- Remove environment constraints altogether (instead of just commenting them out)
- Add goals as a parameters
- Num of shared inequality constarints should change w/ adjacency matrix. Important when ParametricGame is built from a game definition.
- Add differentation wrt goal state
- Add hyperplane plotting function
- Invert game (follow ParametricMCPs readme)
- Fix stack overflows. Likely good idea to benchmark code to see where it's getting stuck?
- Figure out how to feed solutions into reconstruction error
- Modify trajectory game that it's in terms of a setup struct.
- Make a function for the fancy indexing that I do to extract states only. Use it to refactor reconstruction cost
- ! Setup primals into plotting pipeline so I can re-do the figures in the paper.
- Remove Plots.jl dependency
- Make sure forward hyperplanes work for more than 2 players
- Setup game struct as an actual structure? Should still work with current use of @unpack
- Setup 3-D demo.
- Add x0 gradient descent
- Warm-start using estimate of previous timestep, as in Xinjie's paper.
- Re-run MC
- Run MC_inits