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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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48
aerpaw/impl/controller_impl.cpp
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@@ -180,6 +180,8 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
// 14-16: domainMin (east, north, up)
// 17-19: domainMax (east, north, up)
// 20-21: objectivePos (east, north)
// 22-25: objectiveVar (2x2 col-major: v11, v12, v21, v22)
// 26 : sensorPerformanceMinimum
// Returns 1 on success, 0 on failure.
int loadScenario(const char* filename, double* params) {
char line[4096];
@@ -191,8 +193,8 @@ int loadScenario(const char* filename, double* params) {
char* fields[32];
int nf = splitCSVRow(copy, fields, 32);
if (nf < 21) {
fprintf(stderr, "loadScenario: expected >=21 columns, got %d\n", nf);
if (nf < 19) {
fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf);
return 0;
}
@@ -231,10 +233,20 @@ int loadScenario(const char* filename, double* params) {
}
}
// sensorPerformanceMinimum: column 17
// objectiveVar: column 17, format "v11, v12, v21, v22"
{
char tmp[64]; strncpy(tmp, fields[17], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[22] = atof(trimField(tmp));
char tmp[256]; strncpy(tmp, fields[17], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf , %lf", &params[22], &params[23], &params[24], &params[25]) != 4) {
fprintf(stderr, "loadScenario: failed to parse objectiveVar: %s\n", t);
return 0;
}
}
// sensorPerformanceMinimum: column 18
{
char tmp[64]; strncpy(tmp, fields[18], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[26] = atof(trimField(tmp));
}
printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
@@ -242,7 +254,7 @@ int loadScenario(const char* filename, double* params) {
return 1;
}
// Load initial UAV positions from scenario.csv (column 17: initialPositions).
// Load initial UAV positions from scenario.csv (column 19: initialPositions).
// targets is a column-major [maxClients x 3] array (same layout as loadTargets):
// targets[i + 0*maxClients] = east
// targets[i + 1*maxClients] = north
@@ -258,13 +270,13 @@ int loadInitialPositions(const char* filename, double* targets, int maxClients)
char* fields[32];
int nf = splitCSVRow(copy, fields, 32);
if (nf < 19) {
fprintf(stderr, "loadInitialPositions: expected >=19 columns, got %d\n", nf);
if (nf < 20) {
fprintf(stderr, "loadInitialPositions: expected >=20 columns, got %d\n", nf);
return 0;
}
// Column 18: initialPositions flat "x1,y1,z1, x2,y2,z2, ..."
char tmp[1024]; strncpy(tmp, fields[18], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
// Column 19: initialPositions flat "x1,y1,z1, x2,y2,z2, ..."
char tmp[1024]; strncpy(tmp, fields[19], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
double vals[3 * 4]; // up to MAX_CLIENTS triples
@@ -287,7 +299,7 @@ int loadInitialPositions(const char* filename, double* targets, int maxClients)
}
// Load obstacle bounding-box corners from scenario.csv.
// Columns used: 18 (numObstacles), 19 (obstacleMin flat), 20 (obstacleMax flat).
// Columns used: 20 (numObstacles), 21 (obstacleMin flat), 22 (obstacleMax flat).
// obstacleMin and obstacleMax are column-major [maxObstacles x 3] arrays:
// obstacleMin[obs + 0*maxObstacles] = east_min
// obstacleMin[obs + 1*maxObstacles] = north_min
@@ -304,19 +316,19 @@ int loadObstacles(const char* filename, double* obstacleMin, double* obstacleMax
char* fields[32];
int nf = splitCSVRow(copy, fields, 32);
if (nf < 22) return 0;
if (nf < 23) return 0;
// Column 19: numObstacles
int n = (int)atof(trimField(fields[19]));
// Column 20: numObstacles
int n = (int)atof(trimField(fields[20]));
if (n <= 0) return 0;
if (n > maxObstacles) {
fprintf(stderr, "loadObstacles: %d obstacles exceeds MAX_OBSTACLES=%d\n", n, maxObstacles);
n = maxObstacles;
}
// Column 20: obstacleMin flat "x0,y0,z0, x1,y1,z1, ..."
// Column 21: obstacleMin flat "x0,y0,z0, x1,y1,z1, ..."
{
char tmp[1024]; strncpy(tmp, fields[20], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char tmp[1024]; strncpy(tmp, fields[21], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
double vals[3 * 8]; // up to MAX_OBSTACLES triples
int parsed = 0;
@@ -336,9 +348,9 @@ int loadObstacles(const char* filename, double* obstacleMin, double* obstacleMax
}
}
// Column 21: obstacleMax flat
// Column 22: obstacleMax flat
{
char tmp[1024]; strncpy(tmp, fields[21], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char tmp[1024]; strncpy(tmp, fields[22], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
double vals[3 * 8];
int parsed = 0;

5
aerpaw/impl/controller_impl.h
View File

@@ -17,8 +17,9 @@ int loadTargets(const char* filename, double* targets, int maxClients);
// Scenario loading (scenario.csv)
// Number of elements in the flat params array passed to guidance_step.
// Indices: 0-13 scalars, 14-16 domainMin, 17-19 domainMax, 20-21 objectivePos.
#define NUM_SCENARIO_PARAMS 23
// Indices: 0-13 scalars, 14-16 domainMin, 17-19 domainMax, 20-21 objectivePos,
// 22-25 objectiveVar (2x2 col-major: [v11,v12,v21,v22]), 26 sensorPerformanceMinimum.
#define NUM_SCENARIO_PARAMS 27
// Maximum number of obstacles (upper bound for pre-allocated arrays).
#define MAX_OBSTACLES 8