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partitioning introduced to main loop

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This commit is contained in:
Kevin D
2025-11-12 18:13:43 -08:00
parent 9e948072e8
commit 3d35179579
6 changed files with 75 additions and 36 deletions
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33
sensingModels/sigmoidSensor.m
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@@ -1,12 +1,12 @@
classdef sigmoidSensor
properties (SetAccess = private, GetAccess = public)
% Sensor parameters
alphaDist;
betaDist;
alphaPan;
betaPan;
alphaTilt;
betaTilt;
alphaDist = NaN;
betaDist = NaN;
alphaPan = NaN;
betaPan = NaN;
alphaTilt = NaN;
betaTilt = NaN;
end
methods (Access = public)
@@ -31,19 +31,26 @@ classdef sigmoidSensor
obj.alphaTilt = alphaTilt;
obj.betaTilt = betaTilt;
end
function [neighborValues, neighborPos] = sense(obj, objectiveFunction, domain, pos)
function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
agent (1, 1) {mustBeA(agent, 'agent')};
sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
domain (1, 1) {mustBeGeometry};
pos (1, 3) double;
partitioning (:, :) double;
end
arguments (Output)
neighborValues (4, 1) double;
neighborPos (4, 3) double;
values (:, 1) double;
positions (:, 3) double;
end
% Find positions for this agent's assigned partition in the domain
idx = partitioning == agent.index;
positions = [sensingObjective.X(idx), sensingObjective.Y(idx), zeros(size(sensingObjective.X(idx)))];
% Evaluate objective function at every point in this agent's
% assigned partiton
values = sensingObjective.values(idx);
end
function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
arguments (Input)