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CA verifying test

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Kevin Dee
2025-12-05 17:52:53 -08:00
parent 06882d2f30
commit 2cd1bb8659
1 changed files with 40 additions and 0 deletions
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test/test_miSim.m
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@@ -444,6 +444,46 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
% Run the simulation
tc.testClass.run();
end
function test_collision_avoidance(tc)
% No obstacles
% Fixed agent initial conditions
% Exaggerated large collision geometries to test CA
% make basic domain
l = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [3, 7]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
radius = 1.5;
d = [2.5, 0, 0];
geometry1 = spherical;
geometry2 = spherical;
geometry1 = geometry1.initialize(tc.domain.center + d, radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d, radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
% Initialize agent sensor model
sensor = sigmoidSensor;
% Homogeneous sensor model parameters
% sensor = sensor.initialize(2.5666, 5.0807, NaN, NaN, 20.8614, 13); % 13
alphaDist = l/2; % half of domain length/width
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 15, 3);
% Plot sensor parameters (optional)
f = sensor.plotParameters();
% Initialize agents
tc.agents = {agent; agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1));
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, 2, sprintf("Agent %d", 2));
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
% Run the simulation
tc.testClass.run();
end