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fixed cone radius and sigmoid sensor test parameters

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This commit is contained in:
Kevin D
2025-11-14 13:33:32 -08:00
parent 855b28b066
commit 4363914215
5 changed files with 18 additions and 12 deletions
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12
sensingModels/sigmoidSensor.m
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@@ -7,8 +7,6 @@ classdef sigmoidSensor
betaPan = NaN;
alphaTilt = NaN;
betaTilt = NaN;
r = NaN;
end
methods (Access = public)
@@ -32,8 +30,6 @@ classdef sigmoidSensor
obj.betaPan = betaPan;
obj.alphaTilt = alphaTilt;
obj.betaTilt = betaTilt;
obj.r = obj.alphaDist;
end
function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning)
arguments (Input)
@@ -68,13 +64,13 @@ classdef sigmoidSensor
value (:, 1) double;
end
d = vecnorm(agentPos - targetPos, 2, 2);
panAngle = atan2(targetPos(:, 2) - agentPos(2), targetPos(:, 1) - agentPos(1)) - agentPan;
tiltAngle = atan2(targetPos(:, 3) - agentPos(3), d) - agentTilt;
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)
tiltAngle = atan2(targetPos(:, 3) - agentPos(3), x) - agentTilt;
% Membership functions
mu_d = 1 - (1 ./ (1 + exp(-obj.betaDist .* (d - obj.alphaDist)))); % distance
mu_p = (1 ./ (1 + exp(-obj.betaPan .* (panAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (panAngle - obj.alphaPan)))); % pan
mu_p = 1; % pan
mu_t = (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle - obj.alphaPan)))); % tilt
value = mu_d .* mu_p .* mu_t * 1e12;