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moved origin to get more space from geofence

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kdee committed 2026-03-02 12:15:01 -08:00
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commit e40d2e4614
16 files changed
+64 -10
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aerpaw/config/client.yaml
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# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
origin:
lat: 35.727436
lon: -78.696471
lat: 35.72550610629396
lon: -78.70019657805574
alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home
# Environment-specific settings
environments:
aerpaw/config/scenario.csv
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timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 25.0, 0.1, 1.0, 1.0, 100, 3, 3.0, 60.0, 60.0, 0.2, 10.0, 1.0, "0.0, 0.0, 0.0", "20.0, 20.0, 55.0", "10.0, 10.0", 1e-6, "5.0, 10.0, 45.0, 15.0, 10.0, 30.0", 0, "", ""
5, 100, 25.0, 0.1, 1.0, 1.0, 100, 3, 3.0, 30.0, 60.0, 0.2, 10.0, 1.0, "0.0, 0.0, 0.0", "50.0, 50.0, 100.0", "35.0, 35.0", 1e-6, "5.0, 10.0, 45.0, 15.0, 10.0, 30.0", 0, "", ""
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 25.0 0.1 1.0 1.0 100 3 3.0 60.0 30.0 60.0 0.2 10.0 1.0 0.0, 0.0, 0.0 20.0, 20.0, 55.0 50.0, 50.0, 100.0 10.0, 10.0 35.0, 35.0 1e-6 5.0, 10.0, 45.0, 15.0, 10.0, 30.0 0