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codegen fixes, bug fixes, gets running on testbed environment

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This commit is contained in:
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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23
@agent/run.m
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@@ -13,7 +13,7 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
% Collect objective function values across partition
partitionMask = partitioning == index;
if ~unique(partitionMask)
if ~any(partitionMask(:))
% This agent has no partition, maintain current state
return;
end
@@ -32,10 +32,10 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
pos = obj.pos + delta * deltaApplicator(ii, 1:3);
% Compute performance values on partition
if ii < 5
if ii < 6
% Compute sensing performance
sensorValues = obj.sensorModel.sensorPerformance(pos, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n) on W_n
% Objective performance does not change for 0, +/- X, Y steps.
% Objective performance does not change for 0, +/- X, +/- Y steps.
% Those values are computed once before the loop and are only
% recomputed when +/- Z steps are applied
else
@@ -64,17 +64,26 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
end
% Store agent performance at current time and place
obj.performance(timestepIndex + 1) = C_delta(1);
if coder.target('MATLAB')
obj.performance(timestepIndex + 1) = C_delta(1);
end
% Compute gradient by finite central differences
gradC = [(C_delta(2)-C_delta(3))/(2*delta), (C_delta(4)-C_delta(5))/(2*delta), (C_delta(6)-C_delta(7))/(2*delta)];
% Compute scaling factor
targetRate = obj.initialStepSize - obj.stepDecayRate * timestepIndex; % slow down as you get closer
rateFactor = targetRate / norm(gradC);
gradNorm = norm(gradC);
% Compute unconstrained next position
pNext = obj.pos + rateFactor * gradC;
% Compute unconstrained next position.
% Guard against near-zero gradient: when sensor performance is saturated
% or near-zero across the whole partition, rateFactor -> Inf and pNext
% explodes. Stay put instead.
if gradNorm < 1e-10
pNext = obj.pos;
else
pNext = obj.pos + (targetRate / gradNorm) * gradC;
end
% Move to next position
obj.lastPos = obj.pos;