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partitioning introduced to main loop

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This commit is contained in:
Kevin D
2025-11-12 18:13:43 -08:00
parent 792ca1042c
commit 1592e3321e
6 changed files with 75 additions and 36 deletions
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19
sensingModels/fixedCardinalSensor.m
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@@ -15,12 +15,13 @@ classdef fixedCardinalSensor
end
obj.r = r;
end
function [neighborValues, neighborPos] = sense(obj, objectiveFunction, domain, pos)
function [neighborValues, neighborPos] = sense(obj, agent, sensingObjective, domain, partitioning)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')};
objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
agent (1, 1) {mustBeA(agent, 'agent')};
sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
domain (1, 1) {mustBeGeometry};
pos (1, 3) double;
partitioning (:, :) double = NaN;
end
arguments (Output)
neighborValues (4, 1) double;
@@ -28,7 +29,7 @@ classdef fixedCardinalSensor
end
% Evaluate objective at position offsets +/-[r, 0, 0] and +/-[0, r, 0]
currentPos = pos(1:2);
currentPos = agent.pos(1:2);
neighborPos = [currentPos(1) + obj.r, currentPos(2); ... % (+x)
currentPos(1), currentPos(2) + obj.r; ... % (+y)
currentPos(1) - obj.r, currentPos(2); ... % (-x)
@@ -44,13 +45,13 @@ classdef fixedCardinalSensor
end
% Replace out of bounds positions with inoffensive in-bounds positions
neighborPos(outOfBounds, 1:3) = repmat(pos, sum(outOfBounds), 1);
neighborPos(outOfBounds, 1:3) = repmat(agent.pos, sum(outOfBounds), 1);
% Sense values at selected positions
neighborValues = [objectiveFunction(neighborPos(1, 1), neighborPos(1, 2)), ... % (+x)
objectiveFunction(neighborPos(2, 1), neighborPos(2, 2)), ... % (+y)
objectiveFunction(neighborPos(3, 1), neighborPos(3, 2)), ... % (-x)
objectiveFunction(neighborPos(4, 1), neighborPos(4, 2)), ... % (-y)
neighborValues = [sensingObjective.objectiveFunction(neighborPos(1, 1), neighborPos(1, 2)), ... % (+x)
sensingObjective.objectiveFunction(neighborPos(2, 1), neighborPos(2, 2)), ... % (+y)
sensingObjective.objectiveFunction(neighborPos(3, 1), neighborPos(3, 2)), ... % (-x)
sensingObjective.objectiveFunction(neighborPos(4, 1), neighborPos(4, 2)), ... % (-y)
];
% Prevent out of bounds locations from ever possibly being selected

33
sensingModels/sigmoidSensor.m
View File

@@ -1,12 +1,12 @@
classdef sigmoidSensor
properties (SetAccess = private, GetAccess = public)
% Sensor parameters
alphaDist;
betaDist;
alphaPan;
betaPan;
alphaTilt;
betaTilt;
alphaDist = NaN;
betaDist = NaN;
alphaPan = NaN;
betaPan = NaN;
alphaTilt = NaN;
betaTilt = NaN;
end
methods (Access = public)
@@ -31,19 +31,26 @@ classdef sigmoidSensor
obj.alphaTilt = alphaTilt;
obj.betaTilt = betaTilt;
end
function [neighborValues, neighborPos] = sense(obj, objectiveFunction, domain, pos)
function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
agent (1, 1) {mustBeA(agent, 'agent')};
sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
domain (1, 1) {mustBeGeometry};
pos (1, 3) double;
partitioning (:, :) double;
end
arguments (Output)
neighborValues (4, 1) double;
neighborPos (4, 3) double;
values (:, 1) double;
positions (:, 3) double;
end
% Find positions for this agent's assigned partition in the domain
idx = partitioning == agent.index;
positions = [sensingObjective.X(idx), sensingObjective.Y(idx), zeros(size(sensingObjective.X(idx)))];
% Evaluate objective function at every point in this agent's
% assigned partiton
values = sensingObjective.values(idx);
end
function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
arguments (Input)