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fixed unit tests

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This commit is contained in:
Kevin Dee
2026-01-13 23:16:41 -08:00
parent bcb3bc3da3
commit 2604711c78
15 changed files with 160 additions and 89 deletions
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19
@miSim/initialize.m
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@@ -1,8 +1,10 @@
function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
domain (1, 1) {mustBeGeometry};
agents (:, 1) cell;
barrierGain (1, 1) double = 100;
barrierExponent (1, 1) double = 3;
minAlt (1, 1) double = 1;
timestep (:, 1) double = 0.05;
maxIter (:, 1) double = 1000;
@@ -24,6 +26,9 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
end
obj.makeVideo = makeVideo;
% Generate artifact(s) name
obj.artifactName = strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'));
% Define simulation time parameters
obj.timestep = timestep;
obj.timestepIndex = 0;
@@ -37,10 +42,9 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
% Add an additional obstacle spanning the domain's footprint to
% represent the minimum allowable altitude
obj.minAlt = minAlt;
if obj.minAlt > 0
if minAlt > 0
obj.obstacles{end + 1, 1} = rectangularPrism;
obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
end
% Define agents
@@ -61,6 +65,10 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
end
end
% Set CBF parameters
obj.barrierGain = barrierGain;
obj.barrierExponent = barrierExponent;
% Compute adjacency matrix and lesser neighbors
obj = obj.updateAdjacency();
obj = obj.lesserNeighbor();
@@ -83,4 +91,7 @@ function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstac
% Set up plots showing initialized state
obj = obj.plot();
% Run validations
obj.validate();
end