kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

scenario update, quadprog issue

Browse Source
This commit is contained in:
Kevin Dee
2026-03-03 19:32:13 -08:00
parent 532e37f133
commit 14201aff5d
10 changed files with 20 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
aerpaw/config/scenario.csv
+1 -1
View File
@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 1, "2.0, 15.0, 0.0", "25.0, 25.0, 50.0" 5, 120, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 1, "2.0, 15.0, 0.0", "25.0, 25.0, 50.0"
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 120 30.0 0.1 1.0 2.0 100 3 3.0, 3.0 30.0, 30.0 80.0, 80.0 0.25, 0.25 5.0, 5.0 0.1, 0.1 0.0, 0.0, 0.0 50.0, 50.0, 80.0 35.0, 35.0 10, 5, 5, 10 0.15 5.0, 10.0, 45.0, 15.0, 10.0, 35.0 1 2.0, 15.0, 0.0 25.0, 25.0, 50.0
aerpaw/results/plotGpsCsvs.m
+3 -3
View File
@@ -20,7 +20,7 @@ fclose(fID);
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel]; lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
% Paths to logs % Paths to logs
gpsCsvs = dir(fullfile("sandbox", "test12", "*.csv")); gpsCsvs = dir(fullfile("sandbox", "test13", "*.csv"));
G = cell(size(gpsCsvs)); G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1) for ii = 1:size(gpsCsvs, 1)
@@ -38,8 +38,8 @@ for ii = 1:size(gpsCsvs, 1)
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last'); stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
% % Plot whole flight, including setup/cleanup % % Plot whole flight, including setup/cleanup
startIdx = 1; % startIdx = 1;
stopIdx = length(verticalSpeed); % stopIdx = length(verticalSpeed);
% Plot recorded trajectory over specified range of indices % Plot recorded trajectory over specified range of indices
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5); geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
resources/project/71xh8lboMaPoa5Dmw3ABwzIozfw/bjgcAyD7dxJIgrUo3yHl5f1-iksd.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>
resources/project/71xh8lboMaPoa5Dmw3ABwzIozfw/bjgcAyD7dxJIgrUo3yHl5f1-iksp.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>
resources/project/QVXvsR5cXQzGBi9QgRUFaflegRY/SltMFP7zr3UZsLPdRi9OyWAN7pMd.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>
resources/project/QVXvsR5cXQzGBi9QgRUFaflegRY/SltMFP7zr3UZsLPdRi9OyWAN7pMp.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwd.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwp.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="test13" type="File"/>
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYd.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYp.xml
+2
View File
@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="test14" type="File"/>