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scenario update, quadprog issue

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Kevin Dee
2026-03-03 19:32:13 -08:00
parent f140b55a63
commit ac52e0414d
10 changed files with 20 additions and 4 deletions
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2
aerpaw/config/scenario.csv
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@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 1, "2.0, 15.0, 0.0", "25.0, 25.0, 50.0" 5, 120, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 1, "2.0, 15.0, 0.0", "25.0, 25.0, 50.0"
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 120 30.0 0.1 1.0 2.0 100 3 3.0, 3.0 30.0, 30.0 80.0, 80.0 0.25, 0.25 5.0, 5.0 0.1, 0.1 0.0, 0.0, 0.0 50.0, 50.0, 80.0 35.0, 35.0 10, 5, 5, 10 0.15 5.0, 10.0, 45.0, 15.0, 10.0, 35.0 1 2.0, 15.0, 0.0 25.0, 25.0, 50.0

6
aerpaw/results/plotGpsCsvs.m
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@@ -20,7 +20,7 @@ fclose(fID);
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel]; lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
% Paths to logs % Paths to logs
gpsCsvs = dir(fullfile("sandbox", "test12", "*.csv")); gpsCsvs = dir(fullfile("sandbox", "test13", "*.csv"));
G = cell(size(gpsCsvs)); G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1) for ii = 1:size(gpsCsvs, 1)
@@ -38,8 +38,8 @@ for ii = 1:size(gpsCsvs, 1)
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last'); stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
% % Plot whole flight, including setup/cleanup % % Plot whole flight, including setup/cleanup
startIdx = 1; % startIdx = 1;
stopIdx = length(verticalSpeed); % stopIdx = length(verticalSpeed);
% Plot recorded trajectory over specified range of indices % Plot recorded trajectory over specified range of indices
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5); geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);

2
resources/project/71xh8lboMaPoa5Dmw3ABwzIozfw/bjgcAyD7dxJIgrUo3yHl5f1-iksd.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info/>

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resources/project/71xh8lboMaPoa5Dmw3ABwzIozfw/bjgcAyD7dxJIgrUo3yHl5f1-iksp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>

2
resources/project/QVXvsR5cXQzGBi9QgRUFaflegRY/SltMFP7zr3UZsLPdRi9OyWAN7pMd.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info/>

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resources/project/QVXvsR5cXQzGBi9QgRUFaflegRY/SltMFP7zr3UZsLPdRi9OyWAN7pMp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwd.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info/>

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="test13" type="File"/>

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYd.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info/>

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="test14" type="File"/>