fixed guidance only pulling things towards the middle and added CA QP CBF code

@miSim/miSim.m

@@ -14,6 +14,7 @@ classdef miSim
         sensorPerformanceMinimum = 1e-6; % minimum sensor performance to allow assignment of a point in the domain to a partition
         partitioning = NaN;
         performance = 0; % cumulative sensor performance
+        barrierGain = 100; % collision avoidance parameter
 
         fPerf; % performance plot figure
     end
@@ -43,6 +44,7 @@ classdef miSim
     methods (Access = public)
         [obj] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles);
         [obj] = run(obj);
+        [obj] = constrainMotion(obj);
         [obj] = partition(obj);
         [obj] = updateAdjacency(obj);
         [obj] = plot(obj);