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cleaned up plotting

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This commit is contained in:
Kevin D
2025-11-17 12:04:25 -08:00
parent bf4fc83749
commit 097cdf0e57
3 changed files with 21 additions and 22 deletions
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32
sensingModels/@sigmoidSensor/plotParameters.m
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@@ -20,25 +20,23 @@ function f = plotParameters(obj)
% Distance % Distance
nexttile(1, [1, 1]); nexttile(1, [1, 1]);
grid(f.Children(1).Children(1), "on"); grid("on");
title(f.Children(1).Children(1), "Distance Membership Sigmoid"); title("Distance Membership Sigmoid");
xlabel(f.Children(1).Children(1), "Distance (m)"); xlabel("Distance (m)");
ylabel(f.Children(1).Children(1), "Membership"); ylabel("Membership");
hold(f.Children(1).Children(1), 'on'); hold('on');
plot(f.Children(1).Children(1), d, d_x, 'LineWidth', 2); plot(d, d_x, 'LineWidth', 2);
hold(f.Children(1).Children(1), 'off'); hold('off');
ylim([0, 1]); ylim([0, 1]);
% Tilt % Tilt
nexttile(2, [1, 1]); nexttile(2, [1, 1]);
grid(f.Children(1).Children(1), "on"); grid("on");
title(f.Children(1).Children(1), "Tilt Membership Sigmoid"); title("Tilt Membership Sigmoid");
xlabel(f.Children(1).Children(1), "Tilt (deg)"); xlabel("Tilt (deg)");
ylabel(f.Children(1).Children(1), "Membership"); ylabel("Membership");
hold(f.Children(1).Children(1), 'on'); hold('on');
plot(f.Children(1).Children(1), t, t_x, 'LineWidth', 2); plot(t, t_x, 'LineWidth', 2);
hold(f.Children(1).Children(1), 'off'); hold('off');
ylim([0, 1]);
keyboard
end end

2
sensingModels/@sigmoidSensor/sigmoidSensor.m
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@@ -13,7 +13,7 @@ classdef sigmoidSensor
[obj] = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt); [obj] = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt);
[values, positions] = sense(obj, agent, sensingObjective, domain, partitioning); [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning);
[value] = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos); [value] = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos);
plotParameters(obj); [f] = plotParameters(obj);
end end
methods (Access = private) methods (Access = private)
x = distanceMembership(obj, d); x = distanceMembership(obj, d);

9
test/test_miSim.m
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@@ -356,6 +356,7 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sigmoidSensor; sensor = sigmoidSensor;
% Homogeneous sensor model parameters % Homogeneous sensor model parameters
sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3);
f = sensor.plotParameters();
% Heterogeneous sensor model parameters % Heterogeneous sensor model parameters
% sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin)); % sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
@@ -365,10 +366,10 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, 2, sprintf("Agent %d", 2)); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, 2, sprintf("Agent %d", 2));
% Optional third agent along the +Y axis % Optional third agent along the +Y axis
% geometry3 = rectangularPrism; geometry3 = rectangularPrism;
% geometry3 = geometry3.initialize([tc.domain.center - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3)); geometry3 = geometry3.initialize([tc.domain.center - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
% tc.agents{3} = agent; tc.agents{3} = agent;
% tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3)); tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);