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results plot1 WIP

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Kevin Dee
2026-03-15 13:42:35 -07:00
parent ca891a809f
commit 2a0e2e500f
19 changed files with 437 additions and 35 deletions
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9
@miSim/validate.m
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@@ -7,11 +7,11 @@ function validate(obj)
%% Communications Network Validators
if max(conncomp(graph(obj.adjacency))) ~= 1
warning("Network is not connected");
error("Network is not connected");
end
if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, "all")
warning("Eliminated network connections that were necessary");
error("Eliminated network connections that were necessary");
end
%% Obstacle Validators
@@ -20,10 +20,9 @@ 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
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
if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2 - 1e-3
error("%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
end