included features from SPAWC 2026 branch

2026-03-31 21:18:02 -07:00
parent ca891a809f
commit c3fa1de914
16 changed files with 65 additions and 36 deletions
--- a/@miSim/initialize.m
+++ b/@miSim/initialize.m
@@ -138,6 +138,12 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
        % Initialize variable that will store barrier function values per timestep for analysis purposes
        obj.barriers = NaN(obj.numBarriers, size(obj.times, 1));

+        % Initialize constraint adjacency history (nAgents x nAgents x nTimesteps)
+        nAgents = size(obj.agents, 1);
+        obj.constraintAdjacencyHist = false(nAgents, nAgents, size(obj.times, 1));
+        obj.constraintAdjacencyHist(:, :, 1) = obj.constraintAdjacencyMatrix;
+
+
        % Set up plots showing initialized state
        obj = obj.plot();