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better sigmoid sensor unit testing

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This commit is contained in:
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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3
sensorModels/@sigmoidSensor/sensorPerformance.m
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@@ -10,8 +10,11 @@ function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos
value (:, 1) double; value (:, 1) double;
end end
% compute direct distance and distance projected onto the ground
d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target 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) 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 tiltAngle = (180 - atan2d(x, targetPos(:, 3) - agentPos(3))) - agentTilt; % degrees
% Membership functions % Membership functions

21
test/test_sigmoidSensor.m
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@@ -33,20 +33,29 @@ classdef test_sigmoidSensor < matlab.unittest.TestCase
betaDist = 3; betaDist = 3;
alphaTilt = 15; % degrees alphaTilt = 15; % degrees
betaTilt = 3; betaTilt = 3;
h = 1e-6;
tc.testClass = tc.testClass.initialize(alphaDist, betaDist, NaN, NaN, alphaTilt, betaTilt); tc.testClass = tc.testClass.initialize(alphaDist, betaDist, NaN, NaN, alphaTilt, betaTilt);
% Plot % Plot
tc.testClass.plotParameters(); tc.testClass.plotParameters();
% Performance at current position should be maximized (1) % Anticipate perfect performance for a point directly below and
% some wiggle room is needed for certain parameter conditions, % extremely close
% e.g. small alphaDist and betaDist produce mu_d slightly < 1 tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, h], NaN, 0, [0, 0, 0]), 1, 'RelTol', 1e-3);
tc.verifyEqual(tc.testClass.sensorPerformance(zeros(1, 3), NaN, 0, zeros(1, 3)), 1, 'AbsTol', 1e-3);
% It looks like mu_t can max out at really low values like 0.37 % It looks like mu_t can max out at really low values like 0.37
% when alphaTilt and betaTilt are small, which seems wrong % when alphaTilt and betaTilt are small, which seems wrong
% Performance at distance alphaDist should be 1/2 % 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, 'AbsTol', 1e-3); 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
end end