reorganized code into separate files

util/validators/domainContainsObstacle.m

@@ -0,0 +1,21 @@
+function c = domainContainsObstacle(domain, obstacle)
+    arguments (Input)
+        domain (1, 1) {mustBeGeometry};
+        obstacle (1, 1) {mustBeGeometry}; % this could be expanded to handle n obstacles in 1 call
+    end
+    arguments (Output)
+        c (1, 1) logical;
+    end
+
+    switch class(domain)
+        case 'rectangularPrism'
+            switch class(obstacle)
+                case 'rectangularPrism'
+                    c = all(domain.minCorner <= obstacle.minCorner) && all(domain.maxCorner >= obstacle.maxCorner);
+                otherwise
+                    error("%s not implemented for obstacles of class %s", coder.mfunctionname, class(domain));
+            end
+        otherwise
+            error("%s not implemented for domains of class %s", coder.mfunctionname, class(domain));
+    end
+end