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cleaned up obstacle generation

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This commit is contained in:
Kevin D
2025-11-16 10:21:58 -08:00
parent c9ac9d7725
commit 12dbde7a02
6 changed files with 51 additions and 78 deletions
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74
test/test_miSim.m
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@@ -43,15 +43,13 @@ classdef test_miSim < matlab.unittest.TestCase
% Generate a random domain
function tc = setDomain(tc)
% random integer-dimensioned cubic domain
tc.domain = tc.domain.initializeRandom(tc.minDimension, REGION_TYPE.DOMAIN, "Domain");
tc.domain = tc.domain.initializeRandom(REGION_TYPE.DOMAIN, "Domain", tc.minDimension);
% Random bivariate normal PDF objective
tc.domain.objective = tc.domain.objective.initializeRandomMvnpdf(tc.domain, tc.protectedRange, tc.discretizationStep);
tc.domain.objective = tc.domain.objective.initializeRandomMvnpdf(tc.domain, tc.discretizationStep, tc.protectedRange);
end
% Instantiate agents
function tc = setAgents(tc)
% Agents will be initialized under different parameters in
% individual test cases
% Agents will be initialized under different parameters in individual test cases
% Instantiate a random number of agents according to parameters
for ii = 1:randi([tc.minAgents, tc.maxAgents])
tc.agents{ii, 1} = agent;
@@ -73,20 +71,10 @@ classdef test_miSim < matlab.unittest.TestCase
for ii = 1:size(tc.obstacles, 1)
badCandidate = true;
while badCandidate
% Instantiate a rectangular prism obstacle
% Instantiate a rectangular prism obstacle inside the domain
tc.obstacles{ii} = rectangularPrism;
tc.obstacles{ii} = tc.obstacles{ii}.initializeRandom(REGION_TYPE.OBSTACLE, sprintf("Obstacle %d", ii), tc.minObstacleSize, tc.maxObstacleSize, tc.domain);
% Randomly generate min corner for the obstacle
candidateMinCorner = tc.domain.random();
candidateMinCorner = [candidateMinCorner(1:2), 0]; % bind obstacles to floor of domain
% Randomly select a corresponding maximum corner that
% satisfies min/max obstacle size specifications
candidateMaxCorner = candidateMinCorner + tc.minObstacleSize + rand(1, 3) * (tc.maxObstacleSize - tc.minObstacleSize);
% Initialize obstacle
tc.obstacles{ii} = tc.obstacles{ii}.initialize([candidateMinCorner; candidateMaxCorner], REGION_TYPE.OBSTACLE, sprintf("Column obstacle %d", ii));
% Check if the obstacle intersects with any existing
% obstacles
violation = false;
@@ -99,24 +87,6 @@ classdef test_miSim < matlab.unittest.TestCase
if violation
continue;
end
% Make sure that the obstacles are fully contained by
% the domain
if ~domainContainsObstacle(tc.domain, tc.obstacles{ii})
continue;
end
% Make sure that the obstacles don't cover the sensing
% objective
if obstacleCoversObjective(tc.domain.objective, tc.obstacles{ii})
continue;
end
% Make sure that the obstacles aren't too close to the
% sensing objective
if obstacleCrowdsObjective(tc.domain.objective, tc.obstacles{ii}, tc.protectedRange)
continue;
end
badCandidate = false;
end
@@ -241,20 +211,10 @@ classdef test_miSim < matlab.unittest.TestCase
for ii = 1:size(tc.obstacles, 1)
badCandidate = true;
while badCandidate
% Instantiate a rectangular prism obstacle
% Instantiate a rectangular prism obstacle inside the domain
tc.obstacles{ii} = rectangularPrism;
tc.obstacles{ii} = tc.obstacles{ii}.initializeRandom(REGION_TYPE.OBSTACLE, sprintf("Obstacle %d", ii), tc.minObstacleSize, tc.maxObstacleSize, tc.domain);
% Randomly generate min corner for the obstacle
candidateMinCorner = tc.domain.random();
candidateMinCorner = [candidateMinCorner(1:2), 0]; % bind obstacles to floor of domain
% Randomly select a corresponding maximum corner that
% satisfies min/max obstacle size specifications
candidateMaxCorner = candidateMinCorner + tc.minObstacleSize + rand(1, 3) * (tc.maxObstacleSize - tc.minObstacleSize);
% Initialize obstacle
tc.obstacles{ii} = tc.obstacles{ii}.initialize([candidateMinCorner; candidateMaxCorner], REGION_TYPE.OBSTACLE, sprintf("Column obstacle %d", ii));
% Check if the obstacle intersects with any existing
% obstacles
violation = false;
@@ -267,24 +227,6 @@ classdef test_miSim < matlab.unittest.TestCase
if violation
continue;
end
% Make sure that the obstacles are fully contained by
% the domain
if ~domainContainsObstacle(tc.domain, tc.obstacles{ii})
continue;
end
% Make sure that the obstacles don't cover the sensing
% objective
if obstacleCoversObjective(tc.domain.objective, tc.obstacles{ii})
continue;
end
% Make sure that the obstacles aren't too close to the
% sensing objective
if obstacleCrowdsObjective(tc.domain.objective, tc.obstacles{ii}, tc.protectedRange)
continue;
end
badCandidate = false;
end
@@ -411,7 +353,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); 10 * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% 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.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
geometry1 = rectangularPrism;