From 297ddbf160f43417b9192666e41f4fe985627393 Mon Sep 17 00:00:00 2001
From: Kevin D <krdee1@gmail.com>
Date: Mon, 24 Nov 2025 22:51:42 -0800
Subject: [PATCH] better sigmoid sensor unit testing

---
 .../@sigmoidSensor/sensorPerformance.m        |  3 +++
 test/test_sigmoidSensor.m                     | 21 +++++++++++++------
 2 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/sensorModels/@sigmoidSensor/sensorPerformance.m b/sensorModels/@sigmoidSensor/sensorPerformance.m
index f4e4fd1..044060f 100644
--- a/sensorModels/@sigmoidSensor/sensorPerformance.m
+++ b/sensorModels/@sigmoidSensor/sensorPerformance.m
@@ -10,8 +10,11 @@ function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos
         value (:, 1) double;
     end
 
+    % compute direct distance and distance projected onto the ground
     d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target
     x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2); % distance from sensor nadir to target nadir (i.e. distance ignoring height difference)
+
+    % compute tilt angle
     tiltAngle = (180 - atan2d(x, targetPos(:, 3) - agentPos(3))) - agentTilt; % degrees
 
     % Membership functions
diff --git a/test/test_sigmoidSensor.m b/test/test_sigmoidSensor.m
index 5d5bde0..199cc10 100644
--- a/test/test_sigmoidSensor.m
+++ b/test/test_sigmoidSensor.m
@@ -33,20 +33,29 @@ classdef test_sigmoidSensor < matlab.unittest.TestCase
             betaDist = 3;
             alphaTilt = 15; % degrees
             betaTilt = 3;
+            h = 1e-6;
             tc.testClass = tc.testClass.initialize(alphaDist, betaDist, NaN, NaN, alphaTilt, betaTilt);
             
             % Plot
             tc.testClass.plotParameters();
 
-            % Performance at current position should be maximized (1)
-            % some wiggle room is needed for certain parameter conditions,
-            % e.g. small alphaDist and betaDist produce mu_d slightly < 1
-            tc.verifyEqual(tc.testClass.sensorPerformance(zeros(1, 3), NaN, 0, zeros(1, 3)), 1, 'AbsTol', 1e-3); 
+            % Anticipate perfect performance for a point directly below and
+            % extremely close
+            tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, h], NaN, 0, [0, 0, 0]), 1, 'RelTol', 1e-3); 
             % It looks like mu_t can max out at really low values like 0.37
             % when alphaTilt and betaTilt are small, which seems wrong
 
-            % Performance at distance alphaDist should be 1/2
-            tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, alphaDist], NaN, 0, [0, 0, 0]), 1/2, 'AbsTol', 1e-3);
+            % Performance at nadir point, distance alphaDist should be 1/2 exactly
+            tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, alphaDist], NaN, 0, [0, 0, 0]), 1/2);
+
+            % Performance at (almost) 0 distance, alphaTilt should be 1/2
+            tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, h], NaN, 0, [tand(alphaTilt)*h, 0, 0]), 1/2, 'RelTol', 1e-3);
+
+            % Performance at great distance should be 0
+            tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, 10], NaN, 0, [0, 0, 0]), 0, 'AbsTol', 1e-9);
+
+            % Performance at great tilt should be 0
+            tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, h], NaN, 0, [5, 5, 0]), 0, 'AbsTol', 1e-9);
         end
     end