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better sigmoid sensor unit testing

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Kevin D
2025-11-24 22:51:42 -08:00
parent 5898ecce07
commit 297ddbf160
2 changed files with 18 additions and 6 deletions
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21
test/test_sigmoidSensor.m
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@@ -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