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

geometries/@rectangularPrism/rectangularPrism.m

@@ -11,6 +11,7 @@ classdef rectangularPrism
         dimensions = NaN(1, 3);
         center = NaN;
         footprint = NaN(4, 2);
+        radius = NaN; % fake radius
 
         % Graph
         vertices = NaN(8, 3);
@@ -20,6 +21,10 @@ classdef rectangularPrism
 
         % Plotting
         lines;
+
+        % collision
+        barrierFunction;
+        dBarrierFunction;
     end
     properties (SetAccess = public, GetAccess = public)
         % Sensing objective (for DOMAIN region type only)