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new SINR threshold comms CBF constraint

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kdee committed 2026-06-26 22:13:51 -07:00
1 parent b53f62391b
commit efa251d747
18 files changed
+534 -66
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@agent/initialize.m
+3 -1
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@@ -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;