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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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3
@sensingObjective/initialize.m
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@@ -30,8 +30,7 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
[obj.X, obj.Y] = meshgrid(xGrid, yGrid);
% Evaluate function over grid points
obj.objectiveFunction = objectiveFunction;
obj.values = reshape(obj.objectiveFunction(obj.X, obj.Y), size(obj.X));
obj.values = reshape(objectiveFunction(obj.X, obj.Y), size(obj.X));
% Normalize
obj.values = obj.values ./ max(obj.values, [], "all");

42
@sensingObjective/initializeWithValues.m Normal file
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@@ -0,0 +1,42 @@
function obj = initializeWithValues(obj, values, domain, discretizationStep, protectedRange, sensorPerformanceMinimum)
arguments (Input)
obj (1,1) {mustBeA(obj, "sensingObjective")};
values (:,:) double;
domain (1, 1) {mustBeGeometry};
discretizationStep (1, 1) double = 1;
protectedRange (1, 1) double = 1;
sensorPerformanceMinimum (1, 1) double = 1e-6;
end
arguments (Output)
obj (1,1) {mustBeA(obj, "sensingObjective")};
end
obj.discretizationStep = discretizationStep;
obj.sensorPerformanceMinimum = sensorPerformanceMinimum;
obj.protectedRange = protectedRange;
% Extract footprint limits
xMin = min(domain.footprint(:, 1));
xMax = max(domain.footprint(:, 1));
yMin = min(domain.footprint(:, 2));
yMax = max(domain.footprint(:, 2));
xGrid = unique([xMin:obj.discretizationStep:xMax, xMax]);
yGrid = unique([yMin:obj.discretizationStep:yMax, yMax]);
% Store grid points
[obj.X, obj.Y] = meshgrid(xGrid, yGrid);
% Use pre-computed values (caller must evaluate on same grid)
obj.values = reshape(values, size(obj.X));
% Normalize
obj.values = obj.values ./ max(obj.values, [], "all");
% Store ground position (peak of objective)
idx = obj.values == 1;
obj.groundPos = [obj.X(idx), obj.Y(idx)];
obj.groundPos = obj.groundPos(1, 1:2);
assert(domain.distance([obj.groundPos, domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective")
end

4
@sensingObjective/sensingObjective.m
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@@ -4,7 +4,6 @@ classdef sensingObjective
label = "";
groundPos = [NaN, NaN];
discretizationStep = NaN;
objectiveFunction = @(x, y) NaN; % define objective functions over a grid in this manner
X = [];
Y = [];
values = [];
@@ -14,7 +13,8 @@ classdef sensingObjective
methods (Access = public)
[obj] = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange, sensorPerformanceMinimum);
[obj] = initializeRandomMvnpdf(obj, domain, protectedRange, discretizationStep, protectedRange);
[obj] = initializeWithValues(obj, values, domain, discretizationStep, protectedRange, sensorPerformanceMinimum);
[obj] = initializeRandomMvnpdf(obj, domain, discretizationStep, protectedRange);
[f ] = plot(obj, ind, f);
end
end