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removed collision geometry label input

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This commit is contained in:
Kevin Dee
2026-01-01 17:22:17 -08:00
parent 8dfa0c337a
commit 066acd0949
4 changed files with 32 additions and 31 deletions
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@agent/initialize.m
-6
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@@ -28,12 +28,6 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
obj.debug = debug;
obj.plotCommsGeometry = plotCommsGeometry;
if isempty(obj.label)
obj.label = sprintf("Agent %d");
end
% Add spherical geometry based on com range
obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label));
@miSim/initialize.m
+9
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@@ -52,10 +52,19 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
% Define agents
obj.agents = agents;
obj.constraintAdjacencyMatrix = logical(eye(size(agents, 1)));
% Set labels for agents and collision geometries in cases where they
% were not provieded at the time of their initialization
for ii = 1:size(obj.agents, 1)
% Agent
if isempty(char(obj.agents{ii}.label))
obj.agents{ii}.label = sprintf("Agent %d", ii);
end
% Collision geometry
if isempty(char(obj.agents{ii}.collisionGeometry.label))
obj.agents{ii}.collisionGeometry.label = sprintf("Agent %d Collision Geometry", ii);
end
end
% Compute adjacency matrix and lesser neighbors
geometries/@spherical/spherical.m
+4 -4
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@@ -1,10 +1,6 @@
classdef spherical
% Rectangular prism geometry
properties (SetAccess = private, GetAccess = public)
% Meta
tag = REGION_TYPE.INVALID;
label = "";
% Spatial
center = NaN;
radius = NaN;
@@ -21,6 +17,10 @@ classdef spherical
dBarrierFunction;
end
properties (SetAccess = public, GetAccess = public)
% Meta
tag = REGION_TYPE.INVALID;
label = "";
% Sensing objective (for DOMAIN region type only)
objective;
end
test/test_miSim.m
+19 -21
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@@ -155,7 +155,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize candidate agent collision geometry
candidateGeometry = rectangularPrism;
candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION);
% Initialize candidate agent sensor model
sensor = sigmoidSensor;
@@ -287,9 +287,9 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize candidate agent collision geometry
% candidateGeometry = rectangularPrism;
% candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
% candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION);
candidateGeometry = spherical;
candidateGeometry = candidateGeometry.initialize(candidatePos, tc.collisionRanges(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
candidateGeometry = candidateGeometry.initialize(candidatePos, tc.collisionRanges(ii), REGION_TYPE.COLLISION);
% Initialize candidate agent sensor model
sensor = sigmoidSensor;
@@ -363,8 +363,8 @@ classdef test_miSim < matlab.unittest.TestCase
dh = [0,0,-1]; % bias agent altitude from domain center
geometry1 = rectangularPrism;
geometry2 = geometry1;
geometry1 = geometry1.initialize([tc.domain.center + dh + [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh + [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize([tc.domain.center + dh - [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 2));
geometry1 = geometry1.initialize([tc.domain.center + dh + [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh + [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize([tc.domain.center + dh - [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -383,7 +383,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Optional third agent along the +Y axis
geometry3 = rectangularPrism;
geometry3 = geometry3.initialize([tc.domain.center + dh - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
geometry3 = geometry3.initialize([tc.domain.center + dh - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
tc.agents{3} = agent;
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d);
@@ -401,7 +401,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agent collision geometry
geometry1 = rectangularPrism;
geometry1 = geometry1.initialize([[tc.domain.center(1:2), 3] - tc.collisionRanges(1) * ones(1, 3); [tc.domain.center(1:2), 3] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry1 = geometry1.initialize([[tc.domain.center(1:2), 3] - tc.collisionRanges(1) * ones(1, 3); [tc.domain.center(1:2), 3] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -431,7 +431,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agent collision geometry
geometry1 = rectangularPrism;
geometry1 = geometry1.initialize([[tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3] - tc.collisionRanges(1) * ones(1, 3); [tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry1 = geometry1.initialize([[tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3] - tc.collisionRanges(1) * ones(1, 3); [tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -469,8 +469,8 @@ classdef test_miSim < matlab.unittest.TestCase
d = [2.5, 0, 0];
geometry1 = spherical;
geometry2 = spherical;
geometry1 = geometry1.initialize(tc.domain.center + d, radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d, radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry1 = geometry1.initialize(tc.domain.center + d, radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - d, radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -506,8 +506,8 @@ classdef test_miSim < matlab.unittest.TestCase
d = [3, 0, 0];
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -546,8 +546,8 @@ classdef test_miSim < matlab.unittest.TestCase
d = 2;
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - [d, 0, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - [0, d, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry1 = geometry1.initialize(tc.domain.center - [d, 0, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - [0, d, 0], radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -591,11 +591,11 @@ classdef test_miSim < matlab.unittest.TestCase
geometry3 = geometry2;
geometry4 = geometry3;
geometry5 = geometry4;
geometry1 = geometry1.initialize(tc.domain.center + [d, 0, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center, radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 2));
geometry3 = geometry2.initialize(tc.domain.center + [-d, d, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
geometry4 = geometry2.initialize(tc.domain.center + [-2*d, d, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 4));
geometry5 = geometry2.initialize(tc.domain.center + [0, d, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 5));
geometry1 = geometry1.initialize(tc.domain.center + [d, 0, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center, radius, REGION_TYPE.COLLISION);
geometry3 = geometry2.initialize(tc.domain.center + [-d, d, 0], radius, REGION_TYPE.COLLISION);
geometry4 = geometry2.initialize(tc.domain.center + [-2*d, d, 0], radius, REGION_TYPE.COLLISION);
geometry5 = geometry2.initialize(tc.domain.center + [0, d, 0], radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -612,8 +612,6 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, @gradientAscent, commsRadius);
% TODO
% make agent label optional, can be derived from index
% Consider how to do the same for collision geometry label
% make @gradientAscent always the choice
% Build collision geometry initialization into agent initialization?