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partitioning introduced to main loop

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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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8
test_miSim.m
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@@ -6,6 +6,7 @@ classdef test_miSim < matlab.unittest.TestCase
domain = rectangularPrism; % domain geometry
maxIter = 250;
timestep = 0.05
partitoningFreq = 5;
% Obstacles
minNumObstacles = 1; % Minimum number of obstacles to be randomly generated
@@ -242,7 +243,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter, tc.obstacles);
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
end
function misim_run(tc)
% randomly create obstacles
@@ -410,7 +411,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter, tc.obstacles);
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
% Run simulation loop
[tc.testClass, f] = tc.testClass.run(f);
@@ -418,7 +419,6 @@ classdef test_miSim < matlab.unittest.TestCase
function test_basic_partitioning(tc)
% place agents a fixed distance +/- X from the domain's center
d = 1;
c = 0.1;
% make basic domain
tc.domain = tc.domain.initialize([zeros(1, 3); 10 * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
@@ -442,7 +442,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, 2, sprintf("Agent %d", 2));
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter);
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
end
end
end