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added domain constraints

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This commit is contained in:
Kevin Dee
2025-12-23 17:22:34 -08:00
parent 8315b6c511
commit 14e372ae55
3 changed files with 60 additions and 18 deletions
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20
test/test_miSim.m
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@@ -4,7 +4,7 @@ classdef test_miSim < matlab.unittest.TestCase
testClass = miSim;
% Debug
makeVideo = false; % disable video writing for big performance increase
makeVideo = true; % disable video writing for big performance increase
% Sim
maxIter = 250;
@@ -88,7 +88,7 @@ classdef test_miSim < matlab.unittest.TestCase
while badCandidate
% 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);
tc.obstacles{ii} = tc.obstacles{ii}.initializeRandom(REGION_TYPE.OBSTACLE, sprintf("Obstacle %d", ii), tc.minObstacleSize, tc.maxObstacleSize, tc.domain, tc.minAlt);
% Check if the obstacle collides with an existing obstacle
if ~tc.obstacleCollisionCheck(tc.obstacles(1:(ii - 1)), tc.obstacles{ii})
@@ -221,7 +221,7 @@ classdef test_miSim < matlab.unittest.TestCase
while badCandidate
% 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);
tc.obstacles{ii} = tc.obstacles{ii}.initializeRandom(REGION_TYPE.OBSTACLE, sprintf("Obstacle %d", ii), tc.minObstacleSize, tc.maxObstacleSize, tc.domain, tc.minAlt);
% Check if the obstacle collides with an existing obstacle
if ~tc.obstacleCollisionCheck(tc.obstacles(1:(ii - 1)), tc.obstacles{ii})
@@ -500,12 +500,12 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
radius = 1.5;
radius = 1.1;
d = [3, 0, 0];
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.1, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.1, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -514,16 +514,16 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.1, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1), false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, 2, sprintf("Agent %d", 2), false);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*radius, 1, sprintf("Agent %d", 1), false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*radius, 2, sprintf("Agent %d", 2), false);
% Initialize obstacles
obstacleLength = 1;
tc.obstacles{1} = rectangularPrism;
tc.obstacles{1} = tc.obstacles{1}.initialize([tc.domain.center(1:2) - obstacleLength, 0; tc.domain.center(1:2) + obstacleLength, tc.domain.maxCorner(3)], REGION_TYPE.OBSTACLE, "Obstacle 1");
tc.obstacles{1} = tc.obstacles{1}.initialize([tc.domain.center(1:2) - obstacleLength, tc.minAlt; tc.domain.center(1:2) + obstacleLength, tc.domain.maxCorner(3)], REGION_TYPE.OBSTACLE, "Obstacle 1");
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 125, tc.obstacles, tc.makeVideo);
% Run the simulation
tc.testClass.run();