added sensor pointing by gradient ascent

2026-05-07 09:04:52 -07:00
parent 740b42eba4
commit b44df40c7e
17 changed files with 296 additions and 148 deletions
@@ -193,8 +193,8 @@ else
    % 5. Unconstrained gradient-ascent step for each agent
    for ii = 1:size(sim.agents, 1)
        sim.agents{ii} = sim.agents{ii}.run(sim.domain, sim.partitioning, ...
-                                             sim.timestepIndex, ii, sim.agents, ...
-                                             sim.useDoubleIntegrator, sim.dampingCoeff, sim.timestep);
+                                             sim.timestepIndex, ii, ...
+                                             sim.useDoubleIntegrator, sim.dampingCoeff, sim.timestep, sim.optimizeSensorPointing);
    end

    % 6. Apply CBF safety filter (collision / comms / domain constraints via QP)