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double integrator dynamics

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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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5
@miSim/run.m
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@@ -35,7 +35,7 @@ function [obj] = run(obj)
% Moving
% Iterate over agents to simulate their unconstrained motion
for jj = 1:size(obj.agents, 1)
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.agents);
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.agents, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep);
end
% Adjust motion determined by unconstrained gradient ascent using
@@ -43,8 +43,9 @@ function [obj] = run(obj)
obj = constrainMotion(obj);
if coder.target('MATLAB')
% Update agent position history array
% Update agent position and velocity history arrays
obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
obj.velHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.vel, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
% Update total performance
obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(obj.timestepIndex+1), obj.agents))];