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added minimum altitude constraint as obstacle

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Kevin Dee
2025-12-23 12:02:40 -08:00
parent 33036c95fd
commit 1fa76c7023
3 changed files with 16 additions and 7 deletions
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13
test/test_miSim.m
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@@ -14,6 +14,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Domain
domain = rectangularPrism; % domain geometry
minDimension = 10;
minAlt = 2; % minimum allowed agent altitude
% Obstacles
minNumObstacles = 1; % Minimum number of obstacles to be randomly generated
@@ -207,7 +208,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
end
function misim_run(tc)
% randomly create obstacles
@@ -341,7 +342,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
% Run simulation loop
tc.testClass = tc.testClass.run();
@@ -385,7 +386,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
close(tc.testClass.fPerf);
end
function test_single_partition(tc)
@@ -415,7 +416,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1));
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
close(tc.testClass.fPerf);
end
function test_single_partition_basic_GA(tc)
@@ -445,7 +446,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1), true);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
% Run the simulation
tc.testClass.run();
@@ -485,7 +486,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, 2, sprintf("Agent %d", 2));
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.makeVideo);
% Run the simulation
tc.testClass.run();