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kdee committed 2026-03-09 21:23:31 -07:00
1 parent 813b124c47
commit 05ac8a6e97
12 files changed
+70 -42
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@miSim/initializeFromCsv.m
+2 -1
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@@ -49,6 +49,7 @@ BETA_TILT = scenario.betaTilt;
DOMAIN_MIN = scenario.domainMin; % 1×3
DOMAIN_MAX = scenario.domainMax; % 1×3
OBJECTIVE_GROUND_POS = scenario.objectivePos; % 1×2
OBJECTIVE_VAR = reshape(scenario.objectiveVar, 2, 2); % 2×2 covariance matrix
SENSOR_PERFORMANCE_MINIMUM = scenario.sensorPerformanceMinimum; % scalar
% Initial UAV positions: flat vector reshaped to N×3
@@ -66,7 +67,7 @@ dom = dom.initialize([DOMAIN_MIN; DOMAIN_MAX], REGION_TYPE.DOMAIN, "Guidance Dom
% ---- Build sensing objective (MATLAB path: objectiveFunctionWrapper) -----
dom.objective = sensingObjective;
objFcn = objectiveFunctionWrapper(OBJECTIVE_GROUND_POS, 3 * eye(2));
objFcn = objectiveFunctionWrapper(OBJECTIVE_GROUND_POS, OBJECTIVE_VAR);
dom.objective = dom.objective.initialize(objFcn, dom, DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);
% ---- Build shared sensor model -------------------------------------------