better sigmoid sensor unit testing

2025-11-24 22:51:42 -08:00
parent 5898ecce07
commit 297ddbf160
2 changed files with 18 additions and 6 deletions
--- 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