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per-UAV parameters

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This commit is contained in:
Kevin Dee
2026-03-03 16:18:07 -08:00
parent f40d2bfd84
commit 438ebda388
13 changed files with 171 additions and 83 deletions
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73
aerpaw/impl/controller_impl.cpp
View File

@@ -174,14 +174,19 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
// Load guidance parameters from scenario.csv into flat params[NUM_SCENARIO_PARAMS].
// Index mapping (0-based):
// 0-13 : timestep, maxIter, minAlt, discretizationStep, protectedRange,
// initialStepSize, barrierGain, barrierExponent, collisionRadius,
// comRange, alphaDist, betaDist, alphaTilt, betaTilt
// 14-16: domainMin (east, north, up)
// 17-19: domainMax (east, north, up)
// 20-21: objectivePos (east, north)
// 22-25: objectiveVar (2x2 col-major: v11, v12, v21, v22)
// 26 : sensorPerformanceMinimum
// 0-7 : timestep, maxIter, minAlt, discretizationStep, protectedRange,
// initialStepSize, barrierGain, barrierExponent
// 8-11 : collisionRadius[1:4] (per-UAV, MAX_CLIENTS_PER_PARAM slots)
// 12-15: comRange[1:4]
// 16-19: alphaDist[1:4]
// 20-23: betaDist[1:4]
// 24-27: alphaTilt[1:4]
// 28-31: betaTilt[1:4]
// 32-34: domainMin (east, north, up)
// 35-37: domainMax (east, north, up)
// 38-39: objectivePos (east, north)
// 40-43: objectiveVar (2x2 col-major: v11, v12, v21, v22)
// 44 : sensorPerformanceMinimum
// Returns 1 on success, 0 on failure.
int loadScenario(const char* filename, double* params) {
char line[4096];
@@ -198,16 +203,52 @@ int loadScenario(const char* filename, double* params) {
return 0;
}
// Scalar fields (columns 0–13)
for (int i = 0; i < 14; i++) {
// Zero-initialise all params so unused per-UAV slots default to 0
for (int i = 0; i < NUM_SCENARIO_PARAMS; i++) params[i] = 0.0;
// Scalar fields (columns 0–7): timestep..barrierExponent
for (int i = 0; i < 8; i++) {
params[i] = atof(trimField(fields[i]));
}
// Per-UAV fields (columns 8–13): collisionRadius, comRange,
// alphaDist, betaDist, alphaTilt, betaTilt.
// Each is a quoted comma-separated list with up to MAX_CLIENTS_PER_PARAM values.
// Stored in params as consecutive blocks of MAX_CLIENTS_PER_PARAM (4) slots.
{
const int perUavCols[] = {8, 9, 10, 11, 12, 13};
const int perUavOffsets[] = {8, 12, 16, 20, 24, 28}; // 0-based param indices
const char* perUavNames[] = {"collisionRadius", "comRange",
"alphaDist", "betaDist",
"alphaTilt", "betaTilt"};
for (int p = 0; p < 6; p++) {
char tmp[256];
strncpy(tmp, fields[perUavCols[p]], sizeof(tmp) - 1);
tmp[sizeof(tmp) - 1] = '\0';
char* t = trimField(tmp);
// Parse comma-separated values
double vals[4] = {0, 0, 0, 0};
int count = 0;
char* tok = strtok(t, ",");
while (tok && count < MAX_CLIENTS_PER_PARAM) {
vals[count++] = atof(tok);
tok = strtok(nullptr, ",");
}
if (count == 0) {
fprintf(stderr, "loadScenario: failed to parse %s\n", perUavNames[p]);
return 0;
}
for (int k = 0; k < MAX_CLIENTS_PER_PARAM; k++) {
params[perUavOffsets[p] + k] = vals[k];
}
}
}
// domainMin: column 14, format "east, north, up"
{
char tmp[256]; strncpy(tmp, fields[14], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf", &params[14], &params[15], &params[16]) != 3) {
if (sscanf(t, "%lf , %lf , %lf", &params[32], &params[33], &params[34]) != 3) {
fprintf(stderr, "loadScenario: failed to parse domainMin: %s\n", t);
return 0;
}
@@ -217,7 +258,7 @@ int loadScenario(const char* filename, double* params) {
{
char tmp[256]; strncpy(tmp, fields[15], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf", &params[17], &params[18], &params[19]) != 3) {
if (sscanf(t, "%lf , %lf , %lf", &params[35], &params[36], &params[37]) != 3) {
fprintf(stderr, "loadScenario: failed to parse domainMax: %s\n", t);
return 0;
}
@@ -227,7 +268,7 @@ int loadScenario(const char* filename, double* params) {
{
char tmp[256]; strncpy(tmp, fields[16], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf", &params[20], &params[21]) != 2) {
if (sscanf(t, "%lf , %lf", &params[38], &params[39]) != 2) {
fprintf(stderr, "loadScenario: failed to parse objectivePos: %s\n", t);
return 0;
}
@@ -237,7 +278,7 @@ int loadScenario(const char* filename, double* params) {
{
char tmp[256]; strncpy(tmp, fields[17], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf , %lf", &params[22], &params[23], &params[24], &params[25]) != 4) {
if (sscanf(t, "%lf , %lf , %lf , %lf", &params[40], &params[41], &params[42], &params[43]) != 4) {
fprintf(stderr, "loadScenario: failed to parse objectiveVar: %s\n", t);
return 0;
}
@@ -246,11 +287,11 @@ int loadScenario(const char* filename, double* params) {
// sensorPerformanceMinimum: column 18
{
char tmp[64]; strncpy(tmp, fields[18], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[26] = atof(trimField(tmp));
params[44] = atof(trimField(tmp));
}
printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
params[14], params[15], params[16], params[17], params[18], params[19]);
params[32], params[33], params[34], params[35], params[36], params[37]);
return 1;
}

18
aerpaw/impl/controller_impl.h
View File

@@ -17,9 +17,21 @@ 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,
// 22-25 objectiveVar (2x2 col-major: [v11,v12,v21,v22]), 26 sensorPerformanceMinimum.
#define NUM_SCENARIO_PARAMS 27
// Indices (0-based):
// 0-7 scalars (timestep..barrierExponent)
// 8-11 collisionRadius[1:4] (per-UAV, MAX_CLIENTS slots)
// 12-15 comRange[1:4]
// 16-19 alphaDist[1:4]
// 20-23 betaDist[1:4]
// 24-27 alphaTilt[1:4]
// 28-31 betaTilt[1:4]
// 32-34 domainMin
// 35-37 domainMax
// 38-39 objectivePos
// 40-43 objectiveVar (2x2 col-major)
// 44 sensorPerformanceMinimum
#define NUM_SCENARIO_PARAMS 45
#define MAX_CLIENTS_PER_PARAM 4
// Maximum number of obstacles (upper bound for pre-allocated arrays).
#define MAX_OBSTACLES 8