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included features from SPAWC 2026 branch

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This commit is contained in:
Kevin Dee
2026-03-31 21:18:02 -07:00
parent ca891a809f
commit c3fa1de914
16 changed files with 65 additions and 36 deletions
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@miSim/teardown.m
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@@ -20,6 +20,7 @@ function obj = teardown(obj)
out.dampingCoeff = obj.dampingCoeff;
out.useDoubleIntegrator = obj.useDoubleIntegrator;
out.useFixedTopology = obj.useFixedTopology;
out.constraintAdjacency = obj.constraintAdjacencyHist(:, :, 1:(end - 1));
for ii = 1:size(obj.agents, 1)
out.agent(ii).pos = squeeze(obj.posHist(ii, 1:(end - 1), 1:3));
out.agent(ii).vel = squeeze(obj.velHist(ii, 1:(end - 1), 1:3));
@@ -39,11 +40,11 @@ function obj = teardown(obj)
obj.timestepIndex = NaN;
obj.maxIter = NaN;
obj.domain = rectangularPrism;
obj.objective = sensingObjective;
obj.obstacles = cell(0, 1);
obj.agents = cell(0, 1);
obj.adjacency = NaN;
obj.constraintAdjacencyMatrix = NaN;
obj.constraintAdjacencyHist = [];
obj.partitioning = NaN;
obj.performance = 0;
obj.barrierGain = NaN;