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added randomness to sensor parameters

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Kevin D
2025-11-16 15:21:17 -08:00
parent a19209f736
commit 39bf75a95b
1 changed files with 16 additions and 3 deletions
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17
test/test_miSim.m
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@@ -34,6 +34,16 @@ classdef test_miSim < matlab.unittest.TestCase
maxCollisionRange = 0.5; % Maximum randomly generated collision geometry size maxCollisionRange = 0.5; % Maximum randomly generated collision geometry size
collisionRanges = NaN; collisionRanges = NaN;
% Sensing
betaDistMin = 3;
betaDistMax = 15;
betaTiltMin = 3;
betaTiltMax = 15;
alphaDistMin = 2.5;
alphaDistMax = 3;
alphaTiltMin = deg2rad(15);
alphaTiltMax = deg2rad(30);
% Communications % Communications
comRange = 5; % Maximum range between agents that forms a communications link comRange = 5; % Maximum range between agents that forms a communications link
end end
@@ -139,7 +149,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize candidate agent sensor model % Initialize candidate agent sensor model
sensor = sigmoidSensor; sensor = sigmoidSensor;
sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent % Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
@@ -269,7 +279,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize candidate agent sensor model % Initialize candidate agent sensor model
sensor = sigmoidSensor; sensor = sigmoidSensor;
sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent % Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
@@ -343,7 +353,10 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agent sensor model % Initialize agent sensor model
sensor = sigmoidSensor; sensor = sigmoidSensor;
% Homogeneous sensor model parameters
sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3);
% Heterogeneous sensor model parameters
% sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize agents % Initialize agents
tc.agents = {agent; agent}; tc.agents = {agent; agent};