createPathGoals.m

function Goal = createPathGoals(varargin)

N_Agents = varargin{1};
if nargin == 1
    if N_Agents == 3
        % Goal and goal size.
        Goal.pos(:,1) = [0.9; 0.9; 0.5];
        Goal.state(:,1) = [Goal.pos(:,1); 0; 0];
        Goal.Radius(1) = 0.0625;
        
        % Goal and goal size.
        Goal.pos(:,2) = [0.8; 0.9; 0.5];
        Goal.state(:,2) = [Goal.pos(:,2); 0; 0];
        Goal.Radius(2) = 0.0625;
        
        % Goal and goal size.
        Goal.pos(:,3) = [0.9; 0.8; 0.5];
        Goal.state(:,3) = [Goal.pos(:,3); 0; 0];
        Goal.Radius(3) = 0.0625;
    else
        for k = 1:N_Agents
            % Goal and goal size.
            Goal.pos(:,k) = [rand(1); rand(1); 0.5];
            Goal.state(:,k) = [Goal.pos(:,k); 0; 0];
            Goal.Radius(k) = 0.0625;
        end
    end
else
    if strcmp(varargin{2}, 'calesita')
        r = varargin{3};
        delta_alpha = varargin{4};
        alpha_step = 2*pi/N_Agents;
        for k = 1:N_Agents
            % Goal and goal size.
            
            Goal.pos(:,k) = [0.5+r*cos(alpha_step*k+delta_alpha); ...
                0.5+r*sin(alpha_step*k+delta_alpha); 0.5];
            Goal.state(:,k) = [Goal.pos(:,k); 0; 0];
            Goal.Radius(k) = 0.0250;
        end
    end
end
end