kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

double integrator dynamics

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

15
@miSim/teardown.m
View File

@@ -6,19 +6,22 @@ function obj = teardown(obj)
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Close plots
close(obj.hf);
close(obj.fPerf);
close(obj.f);
% % Close plots
% close(obj.hf);
% close(obj.fPerf);
% close(obj.f);
% Log results into matfile
histPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", strcat(obj.artifactName, "_miSimHist.mat"));
out = struct("agent", repmat(struct("pos", [], "perf", [], "sensor", struct("alphaDist", [], "betaDist", [], "alphaTilt", [], "betaTilt", []), "collisionRadius", [], "commsRadius", []), size(obj.agents)), "perf", [], "barriers", []);
out = struct("agent", repmat(struct("pos", [], "vel", [], "perf", [], "sensor", struct("alphaDist", [], "betaDist", [], "alphaTilt", [], "betaTilt", []), "collisionRadius", [], "commsRadius", []), size(obj.agents)), "perf", [], "barriers", [], "useDoubleIntegrator", [], "dampingCoeff", []);
out.perf = obj.performance(1:(end - 1));
out.barriers = [zeros(size(obj.barriers(1:end, 1), 1), 1), obj.barriers(1:end, 1:(end - 1))];
out.dampingCoeff = obj.dampingCoeff;
out.useDoubleIntegrator = obj.useDoubleIntegrator;
for ii = 1:size(obj.agents, 1)
out.agent(ii).pos = squeeze(obj.posHist(ii, 1:(end - 1), 1:3));
out.agent(ii).vel = squeeze(obj.velHist(ii, 1:(end - 1), 1:3));
out.agent(ii).perf = obj.agents{ii}.performance(1:(end - 2));
out.agent(ii).sensor.alphaDist = obj.agents{ii}.sensorModel.alphaDist;
out.agent(ii).sensor.betaDist = obj.agents{ii}.sensorModel.betaDist;
@@ -44,6 +47,8 @@ function obj = teardown(obj)
obj.performance = 0;
obj.barrierGain = NaN;
obj.barrierExponent = NaN;
obj.useDoubleIntegrator = false;
obj.dampingCoeff = 2.0;
obj.artifactName = "";
end