AERPAW bug fixes for first experiment

aerpaw/impl/controller_impl.cpp

@@ -186,7 +186,10 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
 //   35-37: domainMax  (east, north, up)
 //   38-39: objectivePos (east, north)
 //   40-43: objectiveVar (2x2 col-major: v11, v12, v21, v22)
-//   44   : sensorPerformanceMinimum
+//   44   : sensorPerformanceMinimum  (CSV column 18)
+//   45   : useDoubleIntegrator       (CSV column 23; 0=single-integrator, 1=double-integrator)
+//   46   : dampingCoeff              (CSV column 24)
+//   47   : useFixedTopology          (CSV column 25; 0=dynamic lesser-neighbor, 1=fixed)
 // Returns 1 on success, 0 on failure.
 int loadScenario(const char* filename, double* params) {
     char line[4096];
@@ -198,8 +201,8 @@ int loadScenario(const char* filename, double* params) {
 
     char* fields[32];
     int nf = splitCSVRow(copy, fields, 32);
-    if (nf < 19) {
-        fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf);
+    if (nf < 26) {
+        fprintf(stderr, "loadScenario: expected >=26 columns, got %d\n", nf);
         return 0;
     }
 
@@ -290,6 +293,24 @@ int loadScenario(const char* filename, double* params) {
         params[44] = atof(trimField(tmp));
     }
 
+    // useDoubleIntegrator: column 23
+    {
+        char tmp[64]; strncpy(tmp, fields[23], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
+        params[45] = atof(trimField(tmp));
+    }
+
+    // dampingCoeff: column 24
+    {
+        char tmp[64]; strncpy(tmp, fields[24], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
+        params[46] = atof(trimField(tmp));
+    }
+
+    // useFixedTopology: column 25
+    {
+        char tmp[64]; strncpy(tmp, fields[25], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
+        params[47] = atof(trimField(tmp));
+    }
+
     printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
            params[32], params[33], params[34], params[35], params[36], params[37]);
     return 1;