Implemented a second way of dealing with static obstacles & readme update & runningCost possibility #27
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…to HJIPDE_solve, Note: it requires a modified genericHam that uses this mask
…es, via setting the Hamiltonian to zero at those grid points.
MariusWiggert
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Added the functionality of having a running cost function in the dynSys which is then visible to a) optCtrl and optDistr and b) to genericHam, which use it to a) subset the respective u, d and b) add the running cost term. |
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Besides the reach avoid formulation (which is more general), there's another way of dealing with obstacles.
It is quite simple: setting the Hamiltonian to zero inside the obstacle grid points. For comparison of the results of the different methods to account for constraints, I implemented it and thought I'll contribute it back as it might be useful for others.
Plus: updated the readme