new SINR threshold comms CBF constraint

@agent/agent.m

@@ -19,7 +19,8 @@ classdef agent
         fovGeometry;
 
         % Communication
-        commsGeometry;
+        commsGeometry;          % fixed-radius comms model (spherical, radius = comRange)
+        txPower = 0.1;          % transmit power (W) for the SINR comms model (isotropic)
         lesserNeighbors = zeros(1, 0);
 
         % Performance
@@ -49,7 +50,7 @@ classdef agent
             obj.fovGeometry = cone;
             obj.commsGeometry = spherical;
         end
-        [obj] = initialize(obj, pos, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
+        [obj] = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, initialMaxAngleStepSize, label, plotCommsGeometry, txPower);
         [obj] = run(obj, domain, partitioning, t, index, useDoubleIntegrator, dampingCoeff, dt, optimizeSensorPointing, otherAgents);
         [partitioning, agents] = partition(obj, agents, objective)
         [obj, f] = plot(obj, ind, f);

@agent/initialize.m

@@ -1,4 +1,4 @@
-function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, initialMaxAngleStepSize, label, plotCommsGeometry)
+function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, initialMaxAngleStepSize, label, plotCommsGeometry, txPower)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, "agent")};
         pos (1, 3) double;
@@ -10,6 +10,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
         initialMaxAngleStepSize (1, 1) double = 5.0;
         label (1, 1) string = "";
         plotCommsGeometry (1, 1) logical = false;
+        txPower (1, 1) double = 0.1;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, "agent")};
@@ -25,6 +26,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
     obj.plotCommsGeometry = plotCommsGeometry;
     obj.initialStepSize = initialStepSize;
     obj.initialMaxAngleStepSize = initialMaxAngleStepSize;
+    obj.txPower = txPower;
     obj.stepDecayRate = obj.initialStepSize / maxIter;
     obj.angleStepDecayRate = obj.initialMaxAngleStepSize / maxIter;