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improved gradient ascent test case

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Kevin Dee
2026-01-11 14:41:42 -08:00
parent 796e2f322a
commit 103e8b391b
1 changed files with 3 additions and 3 deletions
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6
test/test_miSim.m
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@@ -435,11 +435,11 @@ classdef test_miSim < matlab.unittest.TestCase
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");
% make basic sensing objective % make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [2, 8]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [5, 7]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
geometry1 = rectangularPrism; geometry1 = rectangularPrism;
geometry1 = geometry1.initialize([[tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3] - tc.collisionRanges(1) * ones(1, 3); [tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION); geometry1 = geometry1.initialize([[tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3] - tc.collisionRanges(1) * ones(1, 3); [tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
% Initialize agent sensor model % Initialize agent sensor model
sensor = sigmoidSensor; sensor = sigmoidSensor;
@@ -453,7 +453,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
tc.agents = {agent}; tc.agents = {agent};
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, 3, tc.maxIter); tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], zeros(1,3), 0, 0, geometry1, sensor, 3, tc.maxIter);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1)); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1));