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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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25
test/parametricTestSuite.m
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@@ -7,7 +7,6 @@ classdef parametricTestSuite < matlab.unittest.TestCase
%% Diagnostic Parameters
% No effect on simulation dynamics
timestep = 1;
makeVideo = true; % disable video writing for big performance increase
makePlots = true; % disable plotting for big performance increase (also disables video)
plotCommsGeometry = false; % disable plotting communications geometries
@@ -15,16 +14,25 @@ classdef parametricTestSuite < matlab.unittest.TestCase
end
properties (TestParameter)
%% Simulation Parameters
timestep = num2cell([1]); % duration of one simulation timestep
maxIter = num2cell([25]); % number of timesteps to run
% Domain parameters
minAlt = num2cell([1]); % minimum allowed agent altitude, make sure test cases don't conflict with this
% Constraint parameters
barrierGain = num2cell([100]);
barrierExponent = num2cell([3]);
% Sensing Objective Parameters
discretizationStep = num2cell([0.01]);
sensorPerformanceMinimum = num2cell([1e-6]); % sensor performance threshhold for partition assignment
discretizationStep = num2cell([0.01]); % sensing objective discretization step size
% this value goes on to determine central differences used in
% gradient ascent and partitioning element sizes
% Agent Parameters
collisionRadius = num2cell([0.1]);
initialStepSize = num2cell([0.2]); % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
% Sensor Model Parameters
alphaDist = num2cell([2.5, 5]);
@@ -38,23 +46,26 @@ classdef parametricTestSuite < matlab.unittest.TestCase
methods (Test, ParameterCombination = "exhaustive")
% Test cases
function single_agent_gradient_ascent(tc, maxIter, minAlt, discretizationStep, collisionRadius, alphaDist, betaDist, alphaTilt, betaTilt, comRange)
function single_agent_gradient_ascent(tc, timestep, maxIter, barrierGain, barrierExponent, minAlt, sensorPerformanceMinimum, discretizationStep, collisionRadius, initialStepSize, alphaDist, betaDist, alphaTilt, betaTilt, comRange)
% Set up square domain
l = 10;
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, discretizationStep, tc.protectedRange);
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, discretizationStep, tc.protectedRange, sensorPerformanceMinimum);
% Set up agent
sensorModel = sigmoidSensor;
sensorModel = sensorModel.initialize(alphaDist, betaDist, alphaTilt, betaTilt);
agentPos = [l/4, l/4, 3*l/4];
agentPos = [l/4, l/4, l/4];
collisionGeometry = spherical;
collisionGeometry = collisionGeometry.initialize(agentPos, collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Region");
agents = {agent};
agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, comRange, maxIter, "Agent 1", tc.plotCommsGeometry);
agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, "Agent 1", tc.plotCommsGeometry);
% Set up simulation
tc.testClass = tc.testClass.initialize(tc.domain, agents, minAlt, tc.timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
% Save simulation parameters to output file
tc.testClass.writeParams();
% Run
tc.testClass = tc.testClass.run();