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added function to initialize sim from saved-off inits file

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Kevin Dee
2026-04-01 09:11:40 -07:00
parent 60475162e4
commit b7bb2dec53
4 changed files with 224 additions and 7 deletions
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@miSim/writeInits.m
+14 -7
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@@ -5,28 +5,35 @@ function writeInits(obj)
arguments (Output)
end
% User-supplied obstacles only: initialize() appends a floor obstacle at
% the end when minAlt > 0, so exclude it here to avoid double-counting on
% reconstruction (initializeFromInits re-adds the floor via minAlt).
numInputObs = size(obj.obstacles, 1) - (obj.minAlt > 0);
userObstacles = obj.obstacles(1:numInputObs);
% Collect agent parameters
collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
betaTilt = cellfun(@(x) x.sensorModel.betaTilt, obj.agents);
comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
pos = cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false));
obsMinCorners = cell2mat(cellfun(@(x) x.minCorner, obj.obstacles, 'UniformOutput', false));
obsMaxCorners = cell2mat(cellfun(@(x) x.maxCorner, obj.obstacles, 'UniformOutput', false));
obsMinCorners = cell2mat(cellfun(@(x) x.minCorner, userObstacles, 'UniformOutput', false));
obsMaxCorners = cell2mat(cellfun(@(x) x.maxCorner, userObstacles, 'UniformOutput', false));
% Combine with simulation parameters
inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), ...
inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter + 1, "minAlt", obj.minAlt, ...
"discretizationStep", obj.domain.objective.discretizationStep, "protectedRange", obj.domain.objective.protectedRange, ...
"sensorPerformanceMinimum", obj.domain.objective.sensorPerformanceMinimum, "initialStepSize", initialStepSize, ...
"barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", size(obj.obstacles, 1), ...
"barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", numInputObs, ...
"numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, ...
"useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, ...
"useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, "useFixedTopology", obj.useFixedTopology, ...
"alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
"pos", pos, "objectivePos", obj.domain.objective.groundPos, "objectiveSigma", obj.domain.objective.objectiveSigma, ...
"domainMin", obj.domain.minCorner, "domainMax", obj.domain.maxCorner, ...
"obsMinCorners", obsMinCorners, "obsMaxCorners", obsMaxCorners, ...
"objectiveIntegral", sum(obj.domain.objective.values(:)));
@@ -34,4 +41,4 @@ function writeInits(obj)
initsFile = strcat(obj.artifactName, "_miSimInits");
initsFile = fullfile(matlab.project.rootProject().RootFolder, "sandbox", initsFile);
save(initsFile, "-struct", "inits");
end
end