Implementation of HOCBF/ECBF

[gy2256]

CBF-CLF-Helper/dynsys/@DoubleIntegrator2D/DoubleIntegrator2D.m

Lines 22 to 23 in 956c88b

	derivDistance = 2*(x(1)-p_o(1))*x(2) + 2*(x(3)-p_o(2))*x(4);
	cbf = derivDistance + params.cbf_gamma0 * distance;

Thanks for making this tool available. It's really helpful to use it to play around the values. I have a quesiton regarding to implement HOCBF (ECBF in this case). Why is the CBF defined like this?

Shouldn't the ECBF be like LfLf h(x) + LgLfh(x) u >= -gamma_1 h(x) - gamma_2 Lfh(x)? How does line 23 convert into the ECBF constraint with control (u) in it?