fixed init generation being really slow

validators/agentsCrowdObjective.m

@@ -0,0 +1,11 @@
+function c = agentsCrowdObjective(objective, positions, protectedRange)
+    arguments (Input)
+        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+        positions (:, 3) double; % this could be expanded to handle n obstacles in 1 call
+        protectedRange (1, 1) double;
+    end
+    arguments (Output)
+        c (:, 1) logical;
+    end
+    c = vecnorm(positions(:, 1:2) - objective.groundPos, 2, 2) <= protectedRange;
+end

validators/domainContainsObstacle.m

@@ -0,0 +1,21 @@
+function c = domainContainsObstacle(domain, obstacle)
+    arguments (Input)
+        domain (1, 1) {mustBeGeometry};
+        obstacle (1, 1) {mustBeGeometry}; % this could be expanded to handle n obstacles in 1 call
+    end
+    arguments (Output)
+        c (1, 1) logical;
+    end
+
+    switch class(domain)
+        case 'rectangularPrism'
+            switch class(obstacle)
+                case 'rectangularPrism'
+                    c = all(domain.minCorner <= obstacle.minCorner) && all(domain.maxCorner >= obstacle.maxCorner);
+                otherwise
+                    error("%s not implemented for obstacles of class %s", coder.mfunctionname, class(domain));
+            end
+        otherwise
+            error("%s not implemented for domains of class %s", coder.mfunctionname, class(domain));
+    end
+end

validators/obstacleCoversObjective.m

@@ -0,0 +1,13 @@
+function c = obstacleCoversObjective(objective, obstacle)
+    arguments (Input)
+        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+        obstacle (1, 1) {mustBeGeometry}; % this could be expanded to handle n obstacles in 1 call
+    end
+    arguments (Output)
+        c (1, 1) logical;
+    end
+
+    % Check if the obstacle contains the objective's ground position if the
+    % ground position were raised to the obstacle's center's height
+    c = obstacle.contains([objective.groundPos, obstacle.center(3)]);
+end

validators/obstacleCrowdsObjective.m

@@ -0,0 +1,11 @@
+function c = obstacleCrowdsObjective(objective, obstacle, protectedRange)
+    arguments (Input)
+        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+        obstacle (1, 1) {mustBeGeometry}; % this could be expanded to handle n obstacles in 1 call
+        protectedRange (1, 1) double;
+    end
+    arguments (Output)
+        c (1, 1) logical;
+    end
+    c = norm(obstacle.distance([objective.groundPos, obstacle.center(3)])) <= protectedRange;
+end