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double integrator dynamics

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This commit is contained in:
Kevin Dee
2026-03-13 15:33:53 -07:00
parent 102f23316d
commit f003528a9c
12 changed files with 115 additions and 46 deletions
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11
@miSim/initialize.m
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@@ -1,4 +1,4 @@
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff)
arguments (Input)
obj (1, 1) {mustBeA(obj, "miSim")};
domain (1, 1) {mustBeGeometry};
@@ -11,6 +11,8 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
makePlots(1, 1) logical = true;
makeVideo (1, 1) logical = true;
useDoubleIntegrator (1, 1) logical = false;
dampingCoeff (1, 1) double = 2.0;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "miSim")};
@@ -86,6 +88,10 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
obj.barrierExponent = barrierExponent;
obj.minAlt = minAlt;
% Set dynamics model
obj.useDoubleIntegrator = useDoubleIntegrator;
obj.dampingCoeff = dampingCoeff;
% Compute adjacency matrix and lesser neighbors
obj = obj.updateAdjacency();
obj = obj.lesserNeighbor();
@@ -120,6 +126,9 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
obj.posHist = NaN(size(obj.agents, 1), obj.maxIter + 1, 3);
obj.posHist(1:size(obj.agents, 1), 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
% Initialize velocity history (zeros at t=0, all agents start at rest)
obj.velHist = zeros(size(obj.agents, 1), obj.maxIter + 1, 3);
% Initialize variable that will store barrier function values per timestep for analysis purposes
obj.barriers = NaN(obj.numBarriers, size(obj.times, 1));