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added sensor pointing by gradient ascent

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kdee committed 2026-05-07 09:04:52 -07:00
1 parent 740b42eba4
commit b44df40c7e
17 files changed
+296 -148
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aerpaw/guidance_step.m
+2 -2
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@@ -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)