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refactored constraint plotting to remove superfluous property

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Kevin Dee
2026-03-31 22:10:43 -07:00
parent 0bcdd73882
commit 8da65278a2
6 changed files with 22 additions and 19 deletions
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@miSim/validate.m
+2 -2
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@@ -20,8 +20,8 @@ function validate(obj)
for kk = 1:size(obj.agents, 1)
P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner);
d = obj.agents{kk}.pos - P;
if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2
error("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, obj.agents{kk}.collisionGeometry.radius^2 - dot(d, d)); % this will cause quadprog to fail
if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2 - 1e-3
error("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, - dot(d, d) + obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
end
end
end