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obstacle respected now

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This commit is contained in:
Kevin Dee
2026-03-03 18:53:19 -08:00
parent 986f4e2dcf
commit 532e37f133
7 changed files with 69 additions and 39 deletions
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85
aerpaw/controller.coderprj
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@@ -128,6 +128,11 @@
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2
aerpaw/guidance_step.m
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@@ -135,7 +135,7 @@ if isInit
% --- Build obstacle list from flat arrays ---
coder.varsize('obstacleList', [8, 1], [1, 0]);
obstacleList = cell(int32(0), 1);
obstacleList = repmat({rectangularPrism}, numObstacles, 1);
for ii = 1:numObstacles
obs = rectangularPrism;
obs = obs.initialize([obstacleMin(ii, :); obstacleMax(ii, :)], ...

13
aerpaw/results/plotGpsCsvs.m
View File

@@ -20,7 +20,7 @@ fclose(fID);
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
% Paths to logs
gpsCsvs = dir(fullfile("sandbox", "test10", "*.csv"));
gpsCsvs = dir(fullfile("sandbox", "test12", "*.csv"));
G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1)
@@ -64,5 +64,16 @@ objectivePos = [params.objectivePos, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
% Plot obstacles
for ii = 1:params.numObstacles
obstacle = enu2lla([params.obstacleMin((1 + (ii - 1) * 3):(ii * 3)); params.obstacleMax((1 + (ii - 1) * 3):(ii * 3))], lla0, 'flat');
geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
end
% finish
hold(gf, "off");