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fixed comms LOS obstruction by obstacles

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Kevin Dee
2025-12-24 16:00:42 -08:00
parent 14e372ae55
commit 50eaad9504
4 changed files with 135 additions and 43 deletions
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6
@miSim/initialize.m
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@@ -32,8 +32,10 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
% Add an additional obstacle spanning the domain's footprint to
% represent the minimum allowable altitude
obj.minAlt = minAlt;
obj.obstacles{end + 1, 1} = rectangularPrism;
obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
if obj.minAlt > 0
obj.obstacles{end + 1, 1} = rectangularPrism;
obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
end
% Define objective
obj.objective = objective;