kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

included features from SPAWC 2026 branch

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

7
@miSim/validate.m
View File

@@ -7,11 +7,11 @@ function validate(obj)
%% Communications Network Validators
if max(conncomp(graph(obj.adjacency))) ~= 1
warning("Network is not connected");
error("Network is not connected");
end
if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, "all")
warning("Eliminated network connections that were necessary");
error("Eliminated network connections that were necessary");
end
%% Obstacle Validators
@@ -21,9 +21,8 @@ function validate(obj)
P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner);
d = obj.agents{kk}.pos - P;
if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2
warning("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
error("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
end
end
end
end