codegen fixes, bug fixes, gets running on testbed environment

2026-02-24 19:05:54 -08:00
parent 58d87cd16f
commit 1ada914384
38 changed files with 1732 additions and 263 deletions
--- a/test/test_miSim.m
+++ b/test/test_miSim.m
@@ -207,6 +207,12 @@ classdef test_miSim < matlab.unittest.TestCase
                            break;
                        end
                    end
+
+                    % Make sure candidate clears domain floor
+                    if newAgent.pos(3) - newAgent.collisionGeometry.radius <= tc.minAlt
+                        violation = true;
+                    end
+                    
                    if violation
                        continue;
                    end
@@ -340,6 +346,12 @@ classdef test_miSim < matlab.unittest.TestCase
                            break;
                        end
                    end
+
+                    % Make sure candidate clears domain floor
+                    if newAgent.pos(3) - newAgent.collisionGeometry.radius <= tc.minAlt
+                        violation = true;
+                    end
+
                    if violation
                        continue;
                    end