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stopped randomly placing agents too close to objective, fixed row/col preference

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This commit is contained in:
Kevin D
2025-10-25 23:41:12 -07:00
parent da3f732250
commit c61d627f0d
3 changed files with 70 additions and 51 deletions
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38
geometries/rectangularPrismConstraint.m
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@@ -4,23 +4,23 @@ classdef rectangularPrismConstraint
tag = REGION_TYPE.INVALID;
label = "";
minCorner = NaN(3, 1);
maxCorner = NaN(3, 1);
minCorner = NaN(1, 3);
maxCorner = NaN(1, 3);
dimensions = NaN(3, 1);
dimensions = NaN(1, 3);
center = NaN;
vertices = NaN(8, 3);
footprint = NaN(2, 4);
footprint = NaN(4, 2);
end
methods (Access = public)
function obj = initialize(obj, bounds, tag, label)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
bounds (3, 2) double;
bounds (2, 3) double;
tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
label (1, 1) string = "";
end
@@ -32,8 +32,8 @@ classdef rectangularPrismConstraint
obj.label = label;
%% Define geometry bounds by LL corner and UR corner
obj.minCorner = bounds(:, 1);
obj.maxCorner = bounds(:, 2);
obj.minCorner = bounds(1, 1:3);
obj.maxCorner = bounds(2, 1:3);
% Compute L, W, H
obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)];
@@ -42,20 +42,20 @@ classdef rectangularPrismConstraint
obj.center = obj.minCorner + obj.dimensions ./ 2;
% Compute vertices
obj.vertices = [obj.minCorner';
obj.maxCorner(1), obj.minCorner(2:3)';
obj.maxCorner(1:2)', obj.minCorner(3);
obj.vertices = [obj.minCorner;
obj.maxCorner(1), obj.minCorner(2:3);
obj.maxCorner(1:2), obj.minCorner(3);
obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3);
obj.minCorner(1:2)', obj.maxCorner(3);
obj.minCorner(1:2), obj.maxCorner(3);
obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3);
obj.minCorner(1), obj.maxCorner(2:3)'
obj.maxCorner';];
obj.minCorner(1), obj.maxCorner(2:3)
obj.maxCorner;];
% Compute footprint
obj.footprint = [obj.minCorner(1:2, 1), ...
[obj.minCorner(1, 1); obj.maxCorner(2, 1)], ...
[obj.maxCorner(1, 1); obj.minCorner(2, 1)], ...
obj.maxCorner(1:2, 1)];
obj.footprint = [obj.minCorner(1:2); ...
[obj.minCorner(1), obj.maxCorner(2)]; ...
[obj.maxCorner(1), obj.minCorner(2)]; ...
obj.maxCorner(1:2)];
end
function r = random(obj)
arguments (Input)
@@ -72,9 +72,9 @@ classdef rectangularPrismConstraint
pos (:, 3) double;
end
arguments (Output)
c (1, 1) logical
c (:, 1) logical
end
c = all(pos >= repmat(obj.minCorner', size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner', size(pos, 1), 1), 2);
c = all(pos >= repmat(obj.minCorner, size(pos, 2), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 2), 1), 2);
end
function f = plotWireframe(obj, f)
arguments (Input)