The safety constraint for CBF handle multiple CBFs. #71
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Previously each safety set is for one scalar-value CBF. Now we consider the intersection of multiple CBF 0-super-level set as the safe set, and this safe set must be contained in the within_set, and not intersect with the exclude_set.
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Previously each safety set is for one scalar-value CBF. Now we consider the intersection of multiple CBF 0-super-level set as the safe set, and this safe set must be contained in the within_set, and not intersect with the exclude_set.
This change is