From 08e396c155a07259690a1ba7f775287a5ab4cde0 Mon Sep 17 00:00:00 2001
From: Kevin D <krdee1@gmail.com>
Date: Tue, 13 Jan 2026 16:37:39 -0800
Subject: [PATCH] demonstrated test iteration over parameters, scales really
 poorly

---
 @agent/agent.m             |  1 -
 test/parametricTestSuite.m | 47 ++++++++++++++++++++++++++++++--------
 test/test_miSim.m          |  6 ++---
 3 files changed, 40 insertions(+), 14 deletions(-)

diff --git a/@agent/agent.m b/@agent/agent.m
index 51a2304..aebca85 100644
--- a/@agent/agent.m
+++ b/@agent/agent.m
@@ -5,7 +5,6 @@ classdef agent
 
         % Sensor
         sensorModel;
-        sensingLength = 0.05; % length parameter used by sensing function
 
         % State
         lastPos = NaN(1, 3); % position from previous timestep
diff --git a/test/parametricTestSuite.m b/test/parametricTestSuite.m
index 1e6eb8e..bc56f58 100644
--- a/test/parametricTestSuite.m
+++ b/test/parametricTestSuite.m
@@ -1,18 +1,47 @@
 classdef parametricTestSuite < matlab.unittest.TestCase
+    properties (Access = private)
+        % System under test
+        testClass = miSim;
+        domain = rectangularPrism;
+        objective = sensingObjective;
+        obstacles = cell(1, 0);
 
-    methods (TestClassSetup)
-        % Shared setup for the entire test class
+        %% Diagnostic Parameters
+        % No effect on simulation dynamics
+        timestep = 1;
+        makeVideo = true; % disable video writing for big performance increase
+        makePlots = true; % disable plotting for big performance increase (also disables video)
+        plotCommsGeometry = false; % disable plotting communications geometries
+        protectedRange = 0;
+    end
+    properties (TestParameter)
+        %% Simulation Parameters
+        maxIter = num2cell([200, 400]); % number of timesteps to run
+
+        % Domain parameters
+        minAlt = num2cell([1, 3]); % minimum allowed agent altitude, make sure test cases don't conflict with this
+
+        % Sensing Objective Parameters
+        discretizationStep = num2cell([0.01, 0.05]);
+
+        % Agent Parameters
+        collisionRange = num2cell([0.1, 0.5]);
+
+        % Sensor Model Parameters
+        betaDist = num2cell(3:6:15);
+        betaTilt = num2cell(3:6:15);
+        alphaDist = num2cell([2.5, 5]);
+        alphaTilt = num2cell([15, 30]); % (degrees)
+
+        % Communications Parameters
+        comRange = num2cell(1:2:5);
     end
 
-    methods (TestMethodSetup)
-        % Setup for each test
-    end
-
-    methods (Test)
+    methods (Test, ParameterCombination = "exhaustive")
         % Test methods
 
-        function unimplementedTest(testCase)
-            testCase.verifyFail("Unimplemented test");
+        function single_agent_gradient_ascent(tc, maxIter, minAlt, discretizationStep, collisionRange, alphaDist, alphaTilt, betaDist, betaTilt, comRange)
+            1;
         end
     end
 
diff --git a/test/test_miSim.m b/test/test_miSim.m
index d3a6a0a..ac00406 100644
--- a/test/test_miSim.m
+++ b/test/test_miSim.m
@@ -10,8 +10,7 @@ classdef test_miSim < matlab.unittest.TestCase
 
         % Sim
         maxIter = 250;
-        timestep = 0.05
-        partitoningFreq = 5;
+        timestep = 0.05;
 
         % Domain
         domain = rectangularPrism; % domain geometry
@@ -33,7 +32,6 @@ classdef test_miSim < matlab.unittest.TestCase
         % Agents
         minAgents = 3; % Minimum number of agents to be randomly generated
         maxAgents = 4; % Maximum number of agents to be randomly generated
-        sensingLength = 0.05; % length parameter used by sensing function
         agents = cell(0, 1);
         
         % Collision
@@ -429,7 +427,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1]);
             tc.verifyLessThan(sum(tc.testClass.partitioning == 1, 'all'), sum(tc.testClass.partitioning == 0, 'all'));
         end
-        function test_single_partition_basic_GA(tc)
+        function test_single_agent_gradient_ascent(tc)
             % make basic domain
             l = 10; % domain size
             tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");