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unit test fixes

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This commit is contained in:
Kevin Dee
2026-01-07 12:41:22 -08:00
parent af6a0447a8
commit 02189baaab
3 changed files with 13 additions and 14 deletions
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8
@agent/run.m
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@@ -17,7 +17,7 @@ function obj = run(obj, domain, partitioning, t, index)
% Compute sensor performance across partition
maskedX = domain.objective.X(partitionMask);
maskedY = domain.objective.Y(partitionMask);
zFactor = 10;
zFactor = 1;
sensorValues = obj.sensorModel.sensorPerformance(obj.pos, obj.pan, obj.tilt, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n) on W_n
sensorValuesLower = obj.sensorModel.sensorPerformance(obj.pos - [0, 0, zFactor * domain.objective.discretizationStep], obj.pan, obj.tilt, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n - [0, 0, z]) on W_n
sensorValuesHigher = obj.sensorModel.sensorPerformance(obj.pos + [0, 0, zFactor * domain.objective.discretizationStep], obj.pan, obj.tilt, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n - [0, 0, z]) on W_n
@@ -118,9 +118,13 @@ function obj = run(obj, domain, partitioning, t, index)
end
end
% return now if there is no data to work with, and do not move
if all(isnan(nGradC), 'all')
return;
end
% Use largest grad(C) value to find the direction of the next position
[xNextIdx, yNextIdx, zNextIdx] = ind2sub(size(nGradC), find(nGradC == max(nGradC, [], 'all')));
disp(zNextIdx)
% switch them
temp = xNextIdx;
xNextIdx = yNextIdx;