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added silent LNA test case

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Kevin Dee
2026-01-01 16:27:28 -08:00
parent c59b96f547
commit 06f6af1511
1 changed files with 57 additions and 0 deletions
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test/test_miSim.m
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@@ -571,6 +571,63 @@ classdef test_miSim < matlab.unittest.TestCase
% No communications link should be established
tc.assertEqual(tc.testClass.adjacency, logical(eye(2)));
end
function test_LNA_example_case(tc)
% No obstacles
% Fixed 5 agents initial conditions
% unitary communicaitons radius
% negligible collision radius
% make basic domain
l = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
radius = .01;
d = 1;
geometry1 = spherical;
geometry2 = geometry1;
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));
% Initialize agent sensor model
sensor = sigmoidSensor;
alphaDist = l/2; % half of domain length/width
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 15, 3);
% Initialize agents
commsRadius = d;
tc.agents = {agent; agent; agent; agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius, 1, sprintf("Agent %d", 1), false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius, 2, sprintf("Agent %d", 2), false);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], zeros(1,3), 0, 0, geometry3, sensor, @gradientAscent, commsRadius, 3, sprintf("Agent %d", 3), false);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], zeros(1,3), 0, 0, geometry4, sensor, @gradientAscent, commsRadius, 4, sprintf("Agent %d", 4), false);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, @gradientAscent, commsRadius, 5, sprintf("Agent %d", 5), false);
% TODO
% make agent label and ID optional, they can be derived from index
% Consider how to do the same for collision geometry label
% make @gradientAscent always the choice
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, 0, tc.timestep, tc.partitoningFreq, 125, tc.obstacles, false, false);
% Constraint adjacency matrix defined by LNA should be as follows
tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...
[ 1, 1, 0, 0, 0; ...
1, 1, 0, 0, 1; ...
0, 0, 1, 1, 1;
0, 0, 1, 0, 0;
0, 1, 1, 0, 0; ]));
end
end
methods