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

geometries/@spherical/spherical.m

@@ -0,0 +1,37 @@
+classdef spherical
+    % Rectangular prism geometry
+    properties (SetAccess = private, GetAccess = public)
+        % Meta
+        tag = REGION_TYPE.INVALID;
+        label = "";
+
+        % Spatial
+        center = NaN;
+        radius = NaN;
+        diameter = NaN;
+
+        vertices; % fake vertices
+        edges; % fake edges
+
+        % Plotting
+        lines;
+
+        % collision
+        barrierFunction;
+        dBarrierFunction;
+    end
+    properties (SetAccess = public, GetAccess = public)
+        % Sensing objective (for DOMAIN region type only)
+        objective;
+    end
+
+    methods (Access = public)
+        [obj   ] = initialize(obj, center, radius, tag, label);
+        [r     ] = random(obj);
+        [c     ] = contains(obj, pos);
+        [d     ] = distance(obj, pos);
+        [g     ] = distanceGradient(obj, pos);
+        [c     ] = containsLine(obj, pos1, pos2);
+        [obj, f] = plotWireframe(obj, ind, f);
+    end
+end