trying to get examples to not add main pkg deps

CLeARoboticsLab · Nov 22, 2024 · 965d443 · 965d443
1 parent 98406b1
commit 965d443
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Showing 3 changed files with 8 additions and 25 deletions.
diff --git a/examples/Project.toml b/examples/Project.toml
@@ -0,0 +1,6 @@
+[deps]
+GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
+LazySets = "b4f0291d-fe17-52bc-9479-3d1a343d9043"
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
+ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
+TrajectoryGamesExamples = "ff3fa34c-8d8f-519c-b5bc-31760c52507a"
diff --git a/examples/TrajectoryExamples.jl b/examples/TrajectoryExamples.jl
@@ -14,7 +14,8 @@ collision-avoidance.
 """
 
 module TrajectoryExamples
-using LevelTwoInverseGames:
+
+using MCPSolver:
     ParametricGame, OptimizationProblem, num_players, solve
 
 using LazySets: LazySets
@@ -41,7 +42,6 @@ using TrajectoryGamesExamples: planar_double_integrator, animate_sim_steps
 using BlockArrays: mortar, blocks, BlockArray, Block
 using GLMakie: GLMakie
 using Makie: Makie
-using PATHSolver: PATHSolver
 using LinearAlgebra: norm_sqr, norm
 using ProgressMeter: ProgressMeter
 
@@ -57,27 +57,6 @@ export build_parametric_game,
     parameter_mask,
     generate_initial_guess
 
-"Zygote-friendly trajectory unpacking utility."
-function unpack_trajectory_zygote(flat_trajectories; dynamics::ProductDynamics)
-    horizon = Int(
-        length(flat_trajectories[1]) /
-        (state_dim(dynamics, 1) + control_dim(dynamics, 1)),
-    )
-
-    map(1:num_players(dynamics), flat_trajectories) do ii, traj
-        num_states = state_dim(dynamics, ii) * horizon
-        X = reshape(traj[1:num_states], (state_dim(dynamics, ii), horizon))
-        U = reshape(
-            traj[(num_states + 1):end],
-            (control_dim(dynamics, ii), horizon),
-        )
-
-        (; xs = eachcol(X) |> collect, us = eachcol(U) |> collect)
-    end
-end
-
-export unpack_trajectory_zygote
-
 include("lane_change.jl")
 
 end # module TrajectoryExamples
diff --git a/examples/lane_change.jl b/examples/lane_change.jl
@@ -87,8 +87,6 @@ function setup_trajectory_game(; environment)
     TrajectoryGame(dynamics, cost, environment, coupling_constraints)
 end
 
-using Infiltrator
-
 function main(;
     initial_state = mortar([[1.0, 1.0, 0.0, 1.0], [3.2, 0.9, 0.0, 1.0]]),
     horizon = 10,