lots of cleanup and simplification in test case construction

geometries/@rectangularPrism/initialize.m

@@ -48,13 +48,4 @@ function obj = initialize(obj, bounds, tag, label, objectiveFunction, discretiza
     if tag == REGION_TYPE.DOMAIN
         obj.objective = sensingObjective;
     end
-
-    % Initialize CBF
-    % first part evaluates to +/-1 if the point is outside/inside the collision geometry
-    % Second part determines the distance from the point to the boundary of the collision geometry
-    obj.barrierFunction = @(x) (1 - 2 * obj.collisionGeometry.contains(x)) * obj.collisionGeometry.distance(x); % x is 1x3
-    % gradient of barrier function 
-    obj.dBarrierFunction = @(x) obj.collisionGeometry.distanceGradient(x); % x is 1x3
-    % as long as the collisionGeometry object is updated during runtime,
-    % these functions never have to be updated again
 end

geometries/@rectangularPrism/rectangularPrism.m

@@ -20,10 +20,6 @@ classdef rectangularPrism
 
         % Plotting
         lines;
-
-        % collision
-        barrierFunction;
-        dBarrierFunction;
     end
     properties (SetAccess = public, GetAccess = public)
         label = "";

geometries/@spherical/initialize.m

@@ -18,11 +18,6 @@ function obj = initialize(obj, center, radius, tag, label)
     obj.radius = radius;
     obj.diameter = 2 * obj.radius;
 
-    % Initialize CBF
-    obj.barrierFunction = @(x) NaN;
-    % gradient of barrier function 
-    obj.dBarrierFunction = @(x) NaN;
-
     % fake vertices in a cross pattern
     obj.vertices = [obj.center + [obj.radius, 0, 0]; ...
                     obj.center - [obj.radius, 0, 0]; ...

geometries/@spherical/spherical.m

@@ -11,10 +11,6 @@ classdef spherical
 
         % Plotting
         lines;
-
-        % collision
-        barrierFunction;
-        dBarrierFunction;
     end
     properties (SetAccess = public, GetAccess = public)
         % Meta