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

2025-12-05 16:04:02 -08:00
parent 96c91c3988
commit 95ea19e546
31 changed files with 342 additions and 14 deletions
--- a/util/validators/arguments/mustBeGeometry.m
+++ b/util/validators/arguments/mustBeGeometry.m
@@ -1,5 +1,5 @@
 function mustBeGeometry(geometry)
-    validGeometries = ["rectangularPrism";];
+    validGeometries = ["rectangularPrism"; "spherical"];
    if isa(geometry, 'cell')
        for ii = 1:size(geometry, 1)
            assert(any(arrayfun(@(x) isa(geometry{ii}, x), validGeometries)), "Geometry in index %d is not a valid geometry class", ii);