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added static network option

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This commit is contained in:
Kevin Dee
2026-03-13 16:18:12 -07:00
parent f003528a9c
commit 771575560f
7 changed files with 25 additions and 9 deletions
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12
@miSim/initialize.m
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@@ -1,4 +1,4 @@
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff)
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology)
arguments (Input)
obj (1, 1) {mustBeA(obj, "miSim")};
domain (1, 1) {mustBeGeometry};
@@ -13,6 +13,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
makeVideo (1, 1) logical = true;
useDoubleIntegrator (1, 1) logical = false;
dampingCoeff (1, 1) double = 2.0;
useFixedTopology (1, 1) logical = false;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "miSim")};
@@ -91,10 +92,15 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
% Set dynamics model
obj.useDoubleIntegrator = useDoubleIntegrator;
obj.dampingCoeff = dampingCoeff;
obj.useFixedTopology = useFixedTopology;
% Compute adjacency matrix and lesser neighbors
% Compute adjacency matrix and network topology
obj = obj.updateAdjacency();
obj = obj.lesserNeighbor();
if obj.useFixedTopology
obj.constraintAdjacencyMatrix = obj.adjacency;
else
obj = obj.lesserNeighbor();
end
% Set up times to iterate over
obj.times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';