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obstacle avoidance

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Kevin Dee
2025-12-23 14:57:13 -08:00
parent 4fa942564a
commit 8315b6c511
6 changed files with 53 additions and 9 deletions
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4
@miSim/initialize.m
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@@ -32,8 +32,8 @@ 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} = rectangularPrism;
obj.obstacles{end} = obj.obstacles{end}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
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");
% Define objective
obj.objective = objective;