/*
  * =====================================================================================
  *
  *  This program is free software: you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation, either version 3 of the License, or
  *  (at your option) any later version.
  *
  *  This program is distributed in the hope that it will be useful,
  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  *  GNU General Public License for more details.
  *
  *  You should have received a copy of the GNU General Public License
  *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
  *
  * -------------------------------------------------------------------------------------
  *  The primary purpose in distributing this source code is to enable
  *  readers to reproduce the numerical results reported in our manuscript
  *  on optimal control under constraints on reset-renewable resources.
  *  See  http://arxiv.org/abs/1110.6221
  *
  * -------------------------------------------------------------------------------------
  *  Problem statement by R. Takei.
  *  The idea of the algorithm by A. Vladimirsky.
  *  The numerical method development by R. Takei & A. Vladimirsky.
  *  Implementation by R. Takei.
  *
  *  The method implemented in these files is not as general as the description
  *  in the paper and relies on several implicit assumptions:
  *
  *		1) the dynamics is isotropic and the primary cost is identically = 1 on Omega;
  *		2) the secondary cost on U is identically = 1;
  *		3) the discretization parameters (h and deltaB) satisfy
  *			a CFL-type condition:  deltaB * f(x) \leq h.
  *
  *  These assumptions are not essential for the approach, but simplify the implementation.
  *
  *  To handle inhomogenious/anisotropic secondary costs and arbitrary deltaB/h ratios,
  *  an alternative implementation was developed & tested by W. Chen, Z. Clawson,
  *  and S. Kirov based on the code for the U=Omega case previously developed by A. Kumar.
  *  This more general implementation is not included in the current distribution.
  * =====================================================================================
  */

ReadMe.txt

*** Running the Constrained Optimal Control script
(used for "Optimal Control with Budget Constraints and Resets" by Takei, Chen, Clawson, Kirov and Vladimirsky)

Instructions:
1. Open "BudgetResetOptimalControl.m"
2. Select parameters:
	a. "B" is the budget to be constrained.
	b. "N" is the number of grid points in each dimension.
	c. "test" accepts an integer value between 1 to 6 and is used to load pre-specified sample domains,
        speed functions and target coordinates, which were used in the journal.
	d. "plotOptimalPath" is set to 1 if an optimal path is to be computed (and plotted),
        and 0 otherwise.
	e. "X0" and "Y0" are the x and y coordinates of the initial position, if the optimal path is to be computed.
3. Execute the script.

Note: if necessary, precompile the *.cpp files to generate the matlab mex files, by uncommenting lines 55 - 58:

mex solveEikonal.cpp;
mex solveConstrainedEikonal.cpp;
mex solveOtherOptEikonal.cpp;
mex computeVisibility.cpp;