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improved objective function generation

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This commit is contained in:
Kevin Dee
2026-01-14 18:24:14 -08:00
parent 4cce98a717
commit 105d91a492
3 changed files with 15 additions and 14 deletions
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3
@sensingObjective/initializeRandomMvnpdf.m
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@@ -14,13 +14,12 @@ function obj = initializeRandomMvnpdf(obj, domain, discretizationStep, protected
while domain.distance(mu) < protectedRange while domain.distance(mu) < protectedRange
mu = domain.random(); mu = domain.random();
end end
mu = mu(1:2);
% Set random distribution parameters % Set random distribution parameters
sig = [2 + rand * 2, 1; 1, 2 + rand * 2]; sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
% Set up random bivariate normal distribution function % Set up random bivariate normal distribution function
objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu, 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);

18
test/test_miSim.m
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@@ -363,7 +363,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); 10 * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); tc.domain = tc.domain.initialize([zeros(1, 3); 10 * 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(:)], tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
dh = [0,0,-1]; % bias agent altitude from domain center dh = [0,0,-1]; % bias agent altitude from domain center
@@ -408,7 +408,7 @@ 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(:)], tc.domain.center(1:2) + rand(1, 2) * 6 - 3), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper(tc.domain.center(1:2) + rand(1, 2) * 6 - 3), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
geometry1 = rectangularPrism; geometry1 = rectangularPrism;
@@ -441,7 +441,7 @@ 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(:)], [7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
geometry1 = rectangularPrism; geometry1 = rectangularPrism;
@@ -479,7 +479,7 @@ 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(:)], [3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
radius = 1.5; radius = 1.5;
@@ -519,7 +519,7 @@ 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(:)], [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);
% Initialize agent collision geometry % Initialize agent collision geometry
radius = 1.1; radius = 1.1;
@@ -565,7 +565,7 @@ classdef test_miSim < matlab.unittest.TestCase
dom = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain"); dom = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective % make basic sensing objective
dom.objective = dom.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [2, 8]) + mvnpdf([x(:), y(:)], [8, 8]), tc.domain, tc.discretizationStep, tc.protectedRange); dom.objective = dom.objective.initialize(objectiveFunctionWrapper([2, 8; 8, 8]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
radius = 0.1; radius = 0.1;
@@ -605,7 +605,7 @@ 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(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
radius = .25; radius = .25;
@@ -649,7 +649,7 @@ 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(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
radius = .01; radius = .01;
@@ -698,7 +698,7 @@ 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(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange); tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry % Initialize agent collision geometry
radius = .01; radius = .01;

8
util/objectiveFunctionWrapper.m
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@@ -1,13 +1,15 @@
function f = objectiveFunctionWrapper(center) function f = objectiveFunctionWrapper(center, sigma)
% Convenience function to generate MVNPDFs at a point % Convenience function to generate MVNPDFs at a point
% Makes it look a lot neater to instantiate and sum these to make % Makes it look a lot neater to instantiate and sum these to make
% composite objectives in particular % composite objectives in particular
arguments (Input) arguments (Input)
center (1, 2) double; center (:, 2) double;
sigma (2, 2) double = eye(2);
end end
arguments (Output) arguments (Output)
f (1, 1) {mustBeA(f, 'function_handle')}; f (1, 1) {mustBeA(f, 'function_handle')};
end end
f = @(x,y) sum(cell2mat(arrayfun(@(i) mvnpdf([x(:), y(:)], center(i,:), sigma), 1:size(center,1), 'UniformOutput', false)), 2);
f = @(x, y) mvnpdf([x(:), y(:)], center);
end end