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codegen fixes, bug fixes, gets running on testbed environment

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Kevin Dee
2026-02-24 19:05:54 -08:00
parent 58d87cd16f
commit 1ada914384
38 changed files with 1732 additions and 263 deletions
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25
@miSim/miSim.m
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@@ -2,17 +2,17 @@ classdef miSim
% multiagent interconnection simulation
% Simulation parameters
properties (SetAccess = private, GetAccess = public)
properties (SetAccess = public, GetAccess = public)
timestep = NaN; % delta time interval for simulation iterations
timestepIndex = NaN; % index of the current timestep (useful for time-indexed arrays)
maxIter = NaN; % maximum number of simulation iterations
domain = rectangularPrism;
objective = sensingObjective;
obstacles = cell(0, 1); % geometries that define obstacles within the domain
agents = cell(0, 1); % agents that move within the domain
adjacency = NaN; % Adjacency matrix representing communications network graph
constraintAdjacencyMatrix = NaN; % Adjacency matrix representing desired lesser neighbor connections
partitioning = NaN;
domain;
objective;
obstacles; % geometries that define obstacles within the domain
agents; % agents that move within the domain
adjacency = false(0, 0); % Adjacency matrix representing communications network graph
constraintAdjacencyMatrix = false(0, 0); % Adjacency matrix representing desired lesser neighbor connections
partitioning = zeros(0, 0);
perf; % sensor performance timeseries array
performance = 0; % simulation performance timeseries vector
barrierGain = NaN; % CBF gain parameter
@@ -54,6 +54,15 @@ classdef miSim
end
methods (Access = public)
function obj = miSim()
arguments (Output)
obj (1, 1) miSim
end
obj.domain = rectangularPrism;
obj.objective = sensingObjective;
obj.obstacles = {rectangularPrism};
obj.agents = {agent};
end
[obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo);
[obj] = run(obj);
[obj] = lesserNeighbor(obj);