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added sensor tilting and rf sensor sim test cases

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Kevin Dee
2026-05-03 14:32:53 -07:00
parent e950d43fc8
commit 0e39e0037d
13 changed files with 154 additions and 29 deletions
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test/test_miSim.m
+64 -1
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@@ -456,7 +456,70 @@ classdef test_miSim < matlab.unittest.TestCase
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation
tc.testClass = tc.testClass.run();end
tc.testClass = tc.testClass.run();
end
function test_single_agent_gradient_ascent_tilted(tc)
% make basic domain
tc.minDimension = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 20, 3, 25, 155);
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation
tc.testClass = tc.testClass.run();
end
function test_single_agent_gradient_ascent_tilted_RF_sensor(tc)
% make basic domain
tc.minDimension = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
minimumSINR = 50; % (dB)
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, minimumSINR, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
P_TX = 1e-3; % Transmit power (Watts)
BW = 20e6; % Bandwidth (Hz)
f_c = 2e9; % Center frequency (Hz)
G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
tc.sensor = rfSensor;
tc.sensor = tc.sensor.initialize(P_TX, BW, f_c, G_RX_dBi, 45, 45);
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.minAlt = 0.5;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation
tc.testClass = tc.testClass.run();
end
function test_collision_avoidance(tc)
% No obstacles
% Fixed agent initial conditions