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codegen fixes, bug fixes, gets running on testbed environment

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Kevin Dee
2026-02-24 19:05:54 -08:00
parent 58d87cd16f
commit 1ada914384
38 changed files with 1732 additions and 263 deletions
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48
@agent/partition.m
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@@ -7,29 +7,33 @@ function [partitioning] = partition(obj, agents, objective)
arguments (Output)
partitioning (:, :) double;
end
% Assess sensing performance of each agent at each sample point
% in the domain
agentPerformances = cellfun(@(x) reshape(x.sensorModel.sensorPerformance(x.pos, [objective.X(:), objective.Y(:), zeros(size(objective.X(:)))]), size(objective.X)), agents, "UniformOutput", false);
agentPerformances{end + 1} = objective.sensorPerformanceMinimum * ones(size(agentPerformances{end})); % add additional layer to represent the threshold that has to be cleared for assignment to any partiton
agentPerformances = cat(3, agentPerformances{:});
% Get highest performance value at each point
[~, idx] = max(agentPerformances, [], 3);
nAgents = size(agents, 1);
gridM = size(objective.X, 1);
gridN = size(objective.X, 2);
nPoints = gridM * gridN;
% Collect agent indices in the same way as performance
indices = 1:size(agents, 1);
agentInds = squeeze(tensorprod(indices, ones(size(objective.X))));
if size(agentInds, 1) ~= size(agents, 1)
agentInds = reshape(agentInds, [size(agents, 1), size(agentInds)]); % needed for cases with 1 agent where prior squeeze is too agressive
% Assess sensing performance of each agent at each sample point.
% agentPerf is (nPoints x nAgents+1): the extra column is the
% minimum threshold that must be exceeded for any assignment.
agentPerf = zeros(nPoints, nAgents + 1);
for aa = 1:nAgents
p = agents{aa}.sensorModel.sensorPerformance(agents{aa}.pos, ...
[objective.X(:), objective.Y(:), zeros(nPoints, 1)]);
agentPerf(:, aa) = p(:);
end
agentInds = num2cell(agentInds, 2:3);
agentInds = cellfun(@(x) squeeze(x), agentInds, "UniformOutput", false);
agentInds{end + 1} = zeros(size(agentInds{end})); % index for no assignment
agentInds = cat(3, agentInds{:});
agentPerf(:, nAgents + 1) = objective.sensorPerformanceMinimum;
% Use highest performing agent's index to form partitions
[m, n, ~] = size(agentInds);
[jj, kk] = ndgrid(1:m, 1:n);
partitioning = agentInds(sub2ind(size(agentInds), jj, kk, idx));
end
% Find which agent has highest performance at each point.
% If the threshold column wins (idx == nAgents+1) the point is unassigned (0).
[~, idx] = max(agentPerf, [], 2);
assignedAgent = zeros(nPoints, 1);
for pp = 1:nPoints
if idx(pp) <= nAgents
assignedAgent(pp) = idx(pp);
end
end
partitioning = reshape(assignedAgent, gridM, gridN);
end