lots of cleanup and simplification in test case construction

2026-01-13 21:17:35 -08:00
parent 08e396c155
commit bcb3bc3da3
65 changed files with 150 additions and 265 deletions
--- a/geometries/@spherical/initialize.m
+++ b/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]; ...
--- a/geometries/@spherical/spherical.m
+++ b/geometries/@spherical/spherical.m
@@ -11,10 +11,6 @@ classdef spherical

        % Plotting
        lines;
-
-        % collision
-        barrierFunction;
-        dBarrierFunction;
    end
    properties (SetAccess = public, GetAccess = public)
        % Meta