Initializing domain, obstacles, objective, and agents

validators/mustBeDcm.m

@@ -0,0 +1,12 @@
+function mustBeDcm(dcm)
+    % Assert 2D
+    assert(numel(size(dcm)) == 2, "DCM is not 2D");
+    % Assert square
+    assert(size(unique(size(dcm)), 1) == 1, "DCM is not a square matrix");
+
+    epsilon = 1e-9;
+    % Assert inverse equivalent to transpose
+    assert(all(abs(inv(dcm) - dcm') < epsilon, "all"), "DCM inverse is not equivalent to transpose");
+    % Assert determinant is 1
+    assert(det(dcm) > 1 - epsilon && det(dcm) < 1 + epsilon, "DCM has determinant not equal to 1");
+end