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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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15
@miSim/initializeFromCsv.m
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@@ -79,6 +79,18 @@ assert(numel(BETA_TILT_VEC) == numAgents, ...
numObstacles = scenario.numObstacles;
% Dynamics model (optional columns — backward compatible with older CSVs)
if isfield(scenario, 'useDoubleIntegrator')
USE_DOUBLE_INTEGRATOR = logical(scenario.useDoubleIntegrator);
else
USE_DOUBLE_INTEGRATOR = false;
end
if isfield(scenario, 'dampingCoeff')
DAMPING_COEFF = scenario.dampingCoeff;
else
DAMPING_COEFF = 2.0;
end
% ---- Build domain --------------------------------------------------------
dom = rectangularPrism;
dom = dom.initialize([DOMAIN_MIN; DOMAIN_MAX], REGION_TYPE.DOMAIN, "Guidance Domain");
@@ -124,6 +136,7 @@ end
% ---- Initialise simulation (plots and video disabled) --------------------
obj = obj.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false);
MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
USE_DOUBLE_INTEGRATOR, DAMPING_COEFF);
end