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interface updates for test cases

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This commit is contained in:
Kevin Dee
2026-03-31 21:49:06 -07:00
parent c3fa1de914
commit 0bcdd73882
4 changed files with 13 additions and 11 deletions
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@miSim/validate.m
+1 -1
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@@ -21,7 +21,7 @@ function validate(obj)
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 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 error("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, obj.agents{kk}.collisionGeometry.radius^2 - dot(d, d)); % this will cause quadprog to fail
end end
end end
end end
@sensingObjective/initializeRandomMvnpdf.m
+2 -2
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@@ -16,11 +16,11 @@ function obj = initializeRandomMvnpdf(obj, domain, discretizationStep, protected
end end
% Set random distribution parameters % Set random distribution parameters
sig = [2 + rand * 2, 1; 1, 2 + rand * 2]; sig = reshape([2 + rand * 2, 1; 1, 2 + rand * 2], [1 2 2]);
% Set up random bivariate normal distribution function % Set up random bivariate normal distribution function
objectiveFunction = objectiveFunctionWrapper(mu(1:2), sig); objectiveFunction = objectiveFunctionWrapper(mu(1:2), sig);
% Regular initialization % Regular initialization
obj = obj.initialize(objectiveFunction, domain, discretizationStep, protectedRange); obj = obj.initialize(objectiveFunction, domain, discretizationStep, protectedRange, 1e-6, mu(1:2), sig);
end end
test/parametricTestSuite.m
+4 -2
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@@ -34,7 +34,8 @@ 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, reshape(params.objectiveVar, [2 2])), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum); objectiveSigma = reshape(params.objectiveVar, [1 2 2]);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, objectiveSigma), tc.domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum, params.objectivePos, objectiveSigma);
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)
@@ -81,7 +82,8 @@ classdef parametricTestSuite < matlab.unittest.TestCase
for ii = 1:size(params.timestep, 1) for ii = 1:size(params.timestep, 1)
% Set up square domain % Set up square domain
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, params.discretizationStep(ii), params.protectedRange(ii), params.sensorPerformanceMinimum(ii)); objectiveCenter = [.75 * l, 0.75 * l];
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(objectiveCenter), tc.domain, params.discretizationStep(ii), params.protectedRange(ii), params.sensorPerformanceMinimum(ii), objectiveCenter);
% Initialize agents % Initialize agents
agents = cell(params.numAgents(ii), 1); agents = cell(params.numAgents(ii), 1);
test/test_miSim.m
+6 -6
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@@ -437,7 +437,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective % make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [7, 6]);
% Initialize agent collision geometry % Initialize agent collision geometry
tc.agents = {agent}; tc.agents = {agent};
@@ -466,7 +466,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective % make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [3, 7]);
% Initialize agent collision geometry % Initialize agent collision geometry
tc.agents = {agent; agent}; tc.agents = {agent; agent};
@@ -504,7 +504,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective % make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5.2195]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5.2195]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5.2195]);
% Initialize agent collision geometry % Initialize agent collision geometry
tc.agents = {agent; agent;}; tc.agents = {agent; agent;};
@@ -588,7 +588,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3); tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective % make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5]);
% Initialize agent collision geometry % Initialize agent collision geometry
tc.agents = {agent; agent;}; tc.agents = {agent; agent;};
@@ -633,7 +633,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective % make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5]);
% Initialize agent collision geometry % Initialize agent collision geometry
tc.agents = {agent; agent; agent; agent; agent;}; tc.agents = {agent; agent; agent; agent; agent;};
@@ -683,7 +683,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3); tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective % make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [8, 5]);
% Initialize agent collision geometry % Initialize agent collision geometry
tc.agents = {agent; agent; agent; agent; agent; agent; agent;}; tc.agents = {agent; agent; agent; agent; agent; agent; agent;};