added h plots

2026-01-06 21:57:30 -08:00
parent 591430ad8a
commit ddecf63d68
6 changed files with 89 additions and 0 deletions
--- a/@miSim/constrainMotion.m
+++ b/@miSim/constrainMotion.m
@@ -96,6 +96,9 @@ function [obj] = constrainMotion(obj)
        kk = kk + 1;
    end

+    % Save off h function values (ignoring network constraints which may evolve in time)
+    obj.h(:, obj.timestepIndex) = [h(triu(true(size(obj.agents, 1)), 1)); reshape(hObs, [], 1); h_xMin; h_xMax; h_yMin; h_yMax; h_zMin; h_zMax;]; 
+
    % Add communication network constraints
    hComms = NaN(size(obj.agents, 1));
    hComms(logical(eye(size(obj.agents, 1)))) = 0;