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scenario edits

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This commit is contained in:
Kevin Dee
2026-03-02 18:18:40 -08:00
parent 813b124c47
commit 05ac8a6e97
12 changed files with 70 additions and 42 deletions
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4
@miSim/constrainMotion.m
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@@ -109,8 +109,8 @@ function [obj] = constrainMotion(obj)
b(kk) = obj.barrierGain * max(0, h_yMax)^obj.barrierExponent; b(kk) = obj.barrierGain * max(0, h_yMax)^obj.barrierExponent;
kk = kk + 1; kk = kk + 1;
% Z minimum % Z minimum — enforce z >= minAlt + radius (not just z >= domain floor + radius)
h_zMin = (obj.agents{ii}.pos(3) - obj.domain.minCorner(3)) - obj.agents{ii}.collisionGeometry.radius; h_zMin = (obj.agents{ii}.pos(3) - obj.minAlt) - obj.agents{ii}.collisionGeometry.radius;
A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1]; A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1];
b(kk) = obj.barrierGain * max(0, h_zMin)^obj.barrierExponent; b(kk) = obj.barrierGain * max(0, h_zMin)^obj.barrierExponent;
kk = kk + 1; kk = kk + 1;

1
@miSim/initialize.m
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@@ -84,6 +84,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
% Set CBF parameters % Set CBF parameters
obj.barrierGain = barrierGain; obj.barrierGain = barrierGain;
obj.barrierExponent = barrierExponent; obj.barrierExponent = barrierExponent;
obj.minAlt = minAlt;
% Compute adjacency matrix and lesser neighbors % Compute adjacency matrix and lesser neighbors
obj = obj.updateAdjacency(); obj = obj.updateAdjacency();

3
@miSim/initializeFromCsv.m
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@@ -49,6 +49,7 @@ BETA_TILT = scenario.betaTilt;
DOMAIN_MIN = scenario.domainMin; % 1×3 DOMAIN_MIN = scenario.domainMin; % 1×3
DOMAIN_MAX = scenario.domainMax; % 1×3 DOMAIN_MAX = scenario.domainMax; % 1×3
OBJECTIVE_GROUND_POS = scenario.objectivePos; % 1×2 OBJECTIVE_GROUND_POS = scenario.objectivePos; % 1×2
OBJECTIVE_VAR = reshape(scenario.objectiveVar, 2, 2); % 2×2 covariance matrix
SENSOR_PERFORMANCE_MINIMUM = scenario.sensorPerformanceMinimum; % scalar SENSOR_PERFORMANCE_MINIMUM = scenario.sensorPerformanceMinimum; % scalar
% Initial UAV positions: flat vector reshaped to N×3 % 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) ----- % ---- Build sensing objective (MATLAB path: objectiveFunctionWrapper) -----
dom.objective = sensingObjective; 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); dom.objective = dom.objective.initialize(objFcn, dom, DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);
% ---- Build shared sensor model ------------------------------------------- % ---- Build shared sensor model -------------------------------------------

1
@miSim/miSim.m
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@@ -17,6 +17,7 @@ classdef miSim
performance = 0; % simulation performance timeseries vector performance = 0; % simulation performance timeseries vector
barrierGain = NaN; % CBF gain parameter barrierGain = NaN; % CBF gain parameter
barrierExponent = NaN; % CBF exponent parameter barrierExponent = NaN; % CBF exponent parameter
minAlt = 0; % minimum allowable altitude (m)
artifactName = ""; artifactName = "";
fPerf; % performance plot figure fPerf; % performance plot figure
end end

4
@miSim/validate.m
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@@ -20,8 +20,8 @@ function validate(obj)
for kk = 1:size(obj.agents, 1) for kk = 1:size(obj.agents, 1)
P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner); P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner);
d = obj.agents{kk}.pos - P; d = obj.agents{kk}.pos - P;
if dot(d, d) <= obj.agents{kk}.collisionGeometry.radius^2 if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2
error("%s colliding with %s", obj.agents{kk}.label, obj.obstacles{jj}.label); % this will cause quadprog to fail warning("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
end end
end end
end end

4
aerpaw/config/scenario.csv
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@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 30.0, 0.1, 1.0, 2.0, 100, 3, 3.0, 30.0, 60.0, 0.2, 10.0, 1.0, "0.0, 0.0, 0.0", "50.0, 50.0, 50.0", "35.0, 35.0", 1e-6, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 0, "", "" 5, 100, 30.0, 0.1, 1.0, 2.0, 100, 3, 3.0, 30.0, 80.0, 0.25, 5.0, 0.1, "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 2e-1, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 0, "", ""
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 30.0 0.1 1.0 2.0 100 3 3.0 30.0 60.0 80.0 0.2 0.25 10.0 5.0 1.0 0.1 0.0, 0.0, 0.0 50.0, 50.0, 50.0 50.0, 50.0, 80.0 35.0, 35.0 10, 5, 5, 10 1e-6 2e-1 5.0, 10.0, 45.0, 15.0, 10.0, 35.0 0

2
aerpaw/controller.m
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@@ -34,7 +34,7 @@ else
end end
% Load guidance scenario from CSV (parameters for guidance_step) % Load guidance scenario from CSV (parameters for guidance_step)
NUM_SCENARIO_PARAMS = 23; NUM_SCENARIO_PARAMS = 27;
MAX_OBSTACLES_CTRL = int32(8); MAX_OBSTACLES_CTRL = int32(8);
scenarioParams = zeros(1, NUM_SCENARIO_PARAMS); scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3); obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3);

12
aerpaw/guidance_step.m
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@@ -27,7 +27,8 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
% 7 barrierGain 15-17 domainMin % 7 barrierGain 15-17 domainMin
% 8 barrierExponent 18-20 domainMax % 8 barrierExponent 18-20 domainMax
% 21-22 objectivePos % 21-22 objectivePos
% 23 sensorPerformanceMinimum % 23-26 objectiveVar (2x2, col-major)
% 27 sensorPerformanceMinimum
% obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path) % obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path)
% obstacleMax (MAX_OBSTACLES × 3) double % obstacleMax (MAX_OBSTACLES × 3) double
% numObstacles (1,1) int32 actual obstacle count % numObstacles (1,1) int32 actual obstacle count
@@ -89,7 +90,8 @@ if isInit
DOMAIN_MIN = scenarioParams(15:17); DOMAIN_MIN = scenarioParams(15:17);
DOMAIN_MAX = scenarioParams(18:20); DOMAIN_MAX = scenarioParams(18:20);
OBJECTIVE_GROUND_POS = scenarioParams(21:22); OBJECTIVE_GROUND_POS = scenarioParams(21:22);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(23); OBJECTIVE_VAR = reshape(scenarioParams(23:26), 2, 2);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(27);
% --- Build domain geometry --- % --- Build domain geometry ---
dom = rectangularPrism; dom = rectangularPrism;
@@ -102,7 +104,11 @@ if isInit
[gridX, gridY] = meshgrid(xGrid, yGrid); [gridX, gridY] = meshgrid(xGrid, yGrid);
dx = gridX - OBJECTIVE_GROUND_POS(1); dx = gridX - OBJECTIVE_GROUND_POS(1);
dy = gridY - OBJECTIVE_GROUND_POS(2); dy = gridY - OBJECTIVE_GROUND_POS(2);
objValues = exp(-0.5 * (dx .* dx + dy .* dy)); % Bivariate Gaussian using objectiveVar covariance matrix (avoids inv())
ov_a = OBJECTIVE_VAR(1,1); ov_b = OBJECTIVE_VAR(1,2);
ov_c = OBJECTIVE_VAR(2,1); ov_d = OBJECTIVE_VAR(2,2);
ov_det = ov_a * ov_d - ov_b * ov_c;
objValues = exp((-0.5 / ov_det) .* (ov_d .* dx.*dx - (ov_b + ov_c) .* dx.*dy + ov_a .* dy.*dy));
dom.objective = dom.objective.initializeWithValues(objValues, dom, ... dom.objective = dom.objective.initializeWithValues(objValues, dom, ...
DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM); DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);

48
aerpaw/impl/controller_impl.cpp
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@@ -180,6 +180,8 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
// 14-16: domainMin (east, north, up) // 14-16: domainMin (east, north, up)
// 17-19: domainMax (east, north, up) // 17-19: domainMax (east, north, up)
// 20-21: objectivePos (east, north) // 20-21: objectivePos (east, north)
// 22-25: objectiveVar (2x2 col-major: v11, v12, v21, v22)
// 26 : sensorPerformanceMinimum
// Returns 1 on success, 0 on failure. // Returns 1 on success, 0 on failure.
int loadScenario(const char* filename, double* params) { int loadScenario(const char* filename, double* params) {
char line[4096]; char line[4096];
@@ -191,8 +193,8 @@ int loadScenario(const char* filename, double* params) {
char* fields[32]; char* fields[32];
int nf = splitCSVRow(copy, fields, 32); int nf = splitCSVRow(copy, fields, 32);
if (nf < 21) { if (nf < 19) {
fprintf(stderr, "loadScenario: expected >=21 columns, got %d\n", nf); fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf);
return 0; return 0;
} }
@@ -231,10 +233,20 @@ int loadScenario(const char* filename, double* params) {
} }
} }
// sensorPerformanceMinimum: column 17 // objectiveVar: column 17, format "v11, v12, v21, v22"
{ {
char tmp[64]; strncpy(tmp, fields[17], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0'; char tmp[256]; strncpy(tmp, fields[17], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[22] = atof(trimField(tmp)); char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf , %lf", &params[22], &params[23], &params[24], &params[25]) != 4) {
fprintf(stderr, "loadScenario: failed to parse objectiveVar: %s\n", t);
return 0;
}
}
// sensorPerformanceMinimum: column 18
{
char tmp[64]; strncpy(tmp, fields[18], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[26] = atof(trimField(tmp));
} }
printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n", printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
@@ -242,7 +254,7 @@ int loadScenario(const char* filename, double* params) {
return 1; return 1;
} }
// Load initial UAV positions from scenario.csv (column 17: initialPositions). // Load initial UAV positions from scenario.csv (column 19: initialPositions).
// targets is a column-major [maxClients x 3] array (same layout as loadTargets): // targets is a column-major [maxClients x 3] array (same layout as loadTargets):
// targets[i + 0*maxClients] = east // targets[i + 0*maxClients] = east
// targets[i + 1*maxClients] = north // targets[i + 1*maxClients] = north
@@ -258,13 +270,13 @@ int loadInitialPositions(const char* filename, double* targets, int maxClients)
char* fields[32]; char* fields[32];
int nf = splitCSVRow(copy, fields, 32); int nf = splitCSVRow(copy, fields, 32);
if (nf < 19) { if (nf < 20) {
fprintf(stderr, "loadInitialPositions: expected >=19 columns, got %d\n", nf); fprintf(stderr, "loadInitialPositions: expected >=20 columns, got %d\n", nf);
return 0; return 0;
} }
// Column 18: initialPositions flat "x1,y1,z1, x2,y2,z2, ..." // Column 19: initialPositions flat "x1,y1,z1, x2,y2,z2, ..."
char tmp[1024]; strncpy(tmp, fields[18], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0'; char tmp[1024]; strncpy(tmp, fields[19], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp); char* t = trimField(tmp);
double vals[3 * 4]; // up to MAX_CLIENTS triples double vals[3 * 4]; // up to MAX_CLIENTS triples
@@ -287,7 +299,7 @@ int loadInitialPositions(const char* filename, double* targets, int maxClients)
} }
// Load obstacle bounding-box corners from scenario.csv. // Load obstacle bounding-box corners from scenario.csv.
// Columns used: 18 (numObstacles), 19 (obstacleMin flat), 20 (obstacleMax flat). // Columns used: 20 (numObstacles), 21 (obstacleMin flat), 22 (obstacleMax flat).
// obstacleMin and obstacleMax are column-major [maxObstacles x 3] arrays: // obstacleMin and obstacleMax are column-major [maxObstacles x 3] arrays:
// obstacleMin[obs + 0*maxObstacles] = east_min // obstacleMin[obs + 0*maxObstacles] = east_min
// obstacleMin[obs + 1*maxObstacles] = north_min // obstacleMin[obs + 1*maxObstacles] = north_min
@@ -304,19 +316,19 @@ int loadObstacles(const char* filename, double* obstacleMin, double* obstacleMax
char* fields[32]; char* fields[32];
int nf = splitCSVRow(copy, fields, 32); int nf = splitCSVRow(copy, fields, 32);
if (nf < 22) return 0; if (nf < 23) return 0;
// Column 19: numObstacles // Column 20: numObstacles
int n = (int)atof(trimField(fields[19])); int n = (int)atof(trimField(fields[20]));
if (n <= 0) return 0; if (n <= 0) return 0;
if (n > maxObstacles) { if (n > maxObstacles) {
fprintf(stderr, "loadObstacles: %d obstacles exceeds MAX_OBSTACLES=%d\n", n, maxObstacles); fprintf(stderr, "loadObstacles: %d obstacles exceeds MAX_OBSTACLES=%d\n", n, maxObstacles);
n = maxObstacles; n = maxObstacles;
} }
// Column 20: obstacleMin flat "x0,y0,z0, x1,y1,z1, ..." // Column 21: obstacleMin flat "x0,y0,z0, x1,y1,z1, ..."
{ {
char tmp[1024]; strncpy(tmp, fields[20], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0'; char tmp[1024]; strncpy(tmp, fields[21], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp); char* t = trimField(tmp);
double vals[3 * 8]; // up to MAX_OBSTACLES triples double vals[3 * 8]; // up to MAX_OBSTACLES triples
int parsed = 0; int parsed = 0;
@@ -336,9 +348,9 @@ int loadObstacles(const char* filename, double* obstacleMin, double* obstacleMax
} }
} }
// Column 21: obstacleMax flat // Column 22: obstacleMax flat
{ {
char tmp[1024]; strncpy(tmp, fields[21], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0'; char tmp[1024]; strncpy(tmp, fields[22], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp); char* t = trimField(tmp);
double vals[3 * 8]; double vals[3 * 8];
int parsed = 0; int parsed = 0;

5
aerpaw/impl/controller_impl.h
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@@ -17,8 +17,9 @@ int loadTargets(const char* filename, double* targets, int maxClients);
// Scenario loading (scenario.csv) // Scenario loading (scenario.csv)
// Number of elements in the flat params array passed to guidance_step. // Number of elements in the flat params array passed to guidance_step.
// Indices: 0-13 scalars, 14-16 domainMin, 17-19 domainMax, 20-21 objectivePos. // Indices: 0-13 scalars, 14-16 domainMin, 17-19 domainMax, 20-21 objectivePos,
#define NUM_SCENARIO_PARAMS 23 // 22-25 objectiveVar (2x2 col-major: [v11,v12,v21,v22]), 26 sensorPerformanceMinimum.
#define NUM_SCENARIO_PARAMS 27
// Maximum number of obstacles (upper bound for pre-allocated arrays). // Maximum number of obstacles (upper bound for pre-allocated arrays).
#define MAX_OBSTACLES 8 #define MAX_OBSTACLES 8

26
aerpaw/results/plotGpsCsvs.m
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@@ -2,7 +2,9 @@
f = uifigure; f = uifigure;
gf = geoglobe(f); gf = geoglobe(f);
hold(gf, "on"); hold(gf, "on");
c = ["r", "g", "b", "m", "c", "y", "k"]; % plotting colors c = ["g", "b", "m", "c"]; % plotting colors
% coordinate system constants
seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
lla0 = [35.72550610629396, -78.70019657805574, seaToGroundLevel]; % origin (LLA) lla0 = [35.72550610629396, -78.70019657805574, seaToGroundLevel]; % origin (LLA)
@@ -14,28 +16,27 @@ for ii = 1:size(gpsCsvs, 1)
% Read CSV % Read CSV
G{ii} = readGpsCsv(fullfile(gpsCsvs(ii).folder, gpsCsvs(ii).name)); G{ii} = readGpsCsv(fullfile(gpsCsvs(ii).folder, gpsCsvs(ii).name));
% Find when algorithm begins/ends (using ENU altitude) % Find when algorithm begins/ends (using ENU altitude rate change)
enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat'); enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat');
verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]); verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]);
startIdx = find(verticalSpeed <= prctile(verticalSpeed, 25), 1, 'first'); % Automatically detect start/stop of algorithm flight (ignore takeoff, setup, return to liftoff, landing segments of flight)
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, 10), 1, 'last'); startIdx = find(verticalSpeed <= prctile(verticalSpeed, 25), 1, 'first'); % 25 pct threshold may need adjusting
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, 25), 1, 'last');
% % Plot whole flight, including setup/cleanup
% startIdx = 1; % startIdx = 1;
% stopIdx = length(verticalSpeed); % stopIdx = length(verticalSpeed);
speed = vecnorm(diff(enuTraj), 2, 2); % Plot recorded trajectory over specified range of indices
meanSpeed = movmean(speed, [10, 0]);
% Plot recorded trajectory
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5); geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
end end
% Plot objective % Plot objective
objectivePos = [35, 35, 0]; objectivePos = [35, 35, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat'); llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3); geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3, "Color", 'y');
% Plot domain % Plot domain
altOffset = 1; % to avoid clipping into the ground when displayed altOffset = 1; % to avoid clipping into the ground when displayed
@@ -47,4 +48,9 @@ geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(1, 2), domain(1, 2)], domain(
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k'); geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k'); geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
% Plot floor (minimum altitude constraint)
floorAlt = 30;
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset + floorAlt, 1, 5), 'LineWidth', 3, 'Color', 'r');
% finish
hold(gf, "off"); hold(gf, "off");

2
test/parametricTestSuite.m
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@@ -34,7 +34,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Define scenario according to CSV specification % Define scenario according to CSV specification
tc.domain = tc.domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, reshape(params.objectiveVar, [2 2])), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
agents = cell(size(params.initialPositions, 2) / 3, 1); agents = cell(size(params.initialPositions, 2) / 3, 1);
for ii = 1:size(agents, 1) for ii = 1:size(agents, 1)