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

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Kevin Dee
2025-12-05 16:04:02 -08:00
parent 96c91c3988
commit 95ea19e546
31 changed files with 342 additions and 14 deletions
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10
test/test_miSim.m
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@@ -279,9 +279,11 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize candidate agent collision geometry
candidateGeometry = rectangularPrism;
candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
% candidateGeometry = rectangularPrism;
% candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
candidateGeometry = spherical;
candidateGeometry = candidateGeometry.initialize(candidatePos, tc.collisionRanges(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
% Initialize candidate agent sensor model
sensor = sigmoidSensor;
sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
@@ -418,7 +420,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange);
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [2, 8]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
geometry1 = rectangularPrism;