scenario csv on both platforms

aerpaw/impl/controller_impl.h

@@ -15,6 +15,31 @@ void closeServer();
 // Configuration
 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
+// Maximum number of obstacles (upper bound for pre-allocated arrays).
+#define MAX_OBSTACLES 8
+
+// Load guidance parameters from scenario.csv into flat params[NUM_SCENARIO_PARAMS].
+// Returns 1 on success, 0 on failure.
+int loadScenario(const char* filename, double* params);
+
+// Load initial UAV positions from scenario.csv (initialPositions column).
+// targets is a column-major [maxClients x 3] array (same layout as loadTargets).
+// Returns number of positions loaded.
+int loadInitialPositions(const char* filename, double* targets, int maxClients);
+
+// Load obstacle bounding-box corners from scenario.csv.
+// obstacleMin and obstacleMax are column-major [maxObstacles x 3] arrays
+// (same layout convention as loadTargets / recvPositions).
+// Returns the number of obstacles loaded.
+int loadObstacles(const char* filename,
+                  double* obstacleMin,
+                  double* obstacleMax,
+                  int maxObstacles);
+
 // User interaction
 void waitForUserInput();