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refactored sensing objective into domain, random inits

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Kevin D
2025-11-15 16:01:18 -08:00
parent 8dd24bdba6
commit 175a0e02a1
13 changed files with 110 additions and 51 deletions
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15
@sensingObjective/initialize.m
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@@ -1,22 +1,21 @@
function obj = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep)
function obj = initialize(obj, objectiveFunction, domain, discretizationStep)
arguments (Input)
obj (1,1) {mustBeA(obj, 'sensingObjective')};
objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
footprint (:, 2) double;
groundAlt (1, 1) double = 0;
domain (1, 1) {mustBeGeometry};
discretizationStep (1, 1) double = 1;
end
arguments (Output)
obj (1,1) {mustBeA(obj, 'sensingObjective')};
end
obj.groundAlt = groundAlt;
obj.groundAlt = domain.minCorner(3);
% Extract footprint limits
xMin = min(footprint(:, 1));
xMax = max(footprint(:, 1));
yMin = min(footprint(:, 2));
yMax = max(footprint(:, 2));
xMin = min(domain.footprint(:, 1));
xMax = max(domain.footprint(:, 1));
yMin = min(domain.footprint(:, 2));
yMax = max(domain.footprint(:, 2));
xGrid = unique([xMin:discretizationStep:xMax, xMax]);
yGrid = unique([yMin:discretizationStep:yMax, yMax]);