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scenario edits

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This commit is contained in:
Kevin Dee
2026-03-02 18:18:40 -08:00
parent 813b124c47
commit 05ac8a6e97
12 changed files with 70 additions and 42 deletions
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4
@miSim/constrainMotion.m
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@@ -109,8 +109,8 @@ function [obj] = constrainMotion(obj)
b(kk) = obj.barrierGain * max(0, h_yMax)^obj.barrierExponent;
kk = kk + 1;
% Z minimum
h_zMin = (obj.agents{ii}.pos(3) - obj.domain.minCorner(3)) - obj.agents{ii}.collisionGeometry.radius;
% Z minimum — enforce z >= minAlt + radius (not just z >= domain floor + radius)
h_zMin = (obj.agents{ii}.pos(3) - obj.minAlt) - obj.agents{ii}.collisionGeometry.radius;
A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1];
b(kk) = obj.barrierGain * max(0, h_zMin)^obj.barrierExponent;
kk = kk + 1;

1
@miSim/initialize.m
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@@ -84,6 +84,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
% Set CBF parameters
obj.barrierGain = barrierGain;
obj.barrierExponent = barrierExponent;
obj.minAlt = minAlt;
% Compute adjacency matrix and lesser neighbors
obj = obj.updateAdjacency();

3
@miSim/initializeFromCsv.m
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@@ -49,6 +49,7 @@ BETA_TILT = scenario.betaTilt;
DOMAIN_MIN = scenario.domainMin; % 1×3
DOMAIN_MAX = scenario.domainMax; % 1×3
OBJECTIVE_GROUND_POS = scenario.objectivePos; % 1×2
OBJECTIVE_VAR = reshape(scenario.objectiveVar, 2, 2); % 2×2 covariance matrix
SENSOR_PERFORMANCE_MINIMUM = scenario.sensorPerformanceMinimum; % scalar
% Initial UAV positions: flat vector reshaped to N×3
@@ -66,7 +67,7 @@ dom = dom.initialize([DOMAIN_MIN; DOMAIN_MAX], REGION_TYPE.DOMAIN, "Guidance Dom
% ---- Build sensing objective (MATLAB path: objectiveFunctionWrapper) -----
dom.objective = sensingObjective;
objFcn = objectiveFunctionWrapper(OBJECTIVE_GROUND_POS, 3 * eye(2));
objFcn = objectiveFunctionWrapper(OBJECTIVE_GROUND_POS, OBJECTIVE_VAR);
dom.objective = dom.objective.initialize(objFcn, dom, DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);
% ---- Build shared sensor model -------------------------------------------

1
@miSim/miSim.m
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@@ -17,6 +17,7 @@ classdef miSim
performance = 0; % simulation performance timeseries vector
barrierGain = NaN; % CBF gain parameter
barrierExponent = NaN; % CBF exponent parameter
minAlt = 0; % minimum allowable altitude (m)
artifactName = "";
fPerf; % performance plot figure
end

4
@miSim/validate.m
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@@ -20,8 +20,8 @@ function validate(obj)
for kk = 1:size(obj.agents, 1)
P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner);
d = obj.agents{kk}.pos - P;
if dot(d, d) <= obj.agents{kk}.collisionGeometry.radius^2
error("%s colliding with %s", obj.agents{kk}.label, obj.obstacles{jj}.label); % this will cause quadprog to fail
if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2
warning("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
end
end
end