fixed cone radius and sigmoid sensor test parameters

agent.m

@@ -63,7 +63,7 @@ classdef agent
 
             % Initialize FOV cone
             obj.fovGeometry = cone;
-            obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], obj.sensorModel.r, obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
+            obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], tan(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
         end
         function obj = run(obj, sensingObjective, domain, partitioning)
             arguments (Input)

miSim.m

@@ -93,6 +93,13 @@ classdef miSim
 
             % Plot domain partitioning
             [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
+
+            % Enforce plot limits
+            for ii = 1:size(obj.spatialPlotIndices, 2)
+                xlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
+                ylim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
+                zlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
+            end
         end
         function [obj, f] = run(obj, f)
             arguments (Input)

sensingModels/fixedCardinalSensor.m

@@ -1,6 +1,7 @@
 classdef fixedCardinalSensor
     % Senses in the +/-x, +/- y directions at some specified fixed length
     properties
+        alphaTilt = NaN;
         r = 0.1; % fixed sensing length
     end
 
@@ -28,6 +29,9 @@ classdef fixedCardinalSensor
                 neighborPos (4, 3) double;
             end
 
+            % Set alphaTilt to produce an FOV cone with radius 'r' on the ground
+            obj.alphaTilt = atan2(obj.r, agent.pos(3));
+        
             % Evaluate objective at position offsets +/-[r, 0, 0] and +/-[0, r, 0]
             currentPos = agent.pos(1:2);
             neighborPos = [currentPos(1) + obj.r, currentPos(2); ... % (+x)
@@ -70,7 +74,6 @@ classdef fixedCardinalSensor
             end
 
             value = 0.5 * ones(size(targetPos, 1), 1);
-            
         end
     end
 end

sensingModels/sigmoidSensor.m

@@ -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;

test_miSim.m

@@ -360,7 +360,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     
                     % Initialize candidate agent sensor model
                     sensor = sigmoidSensor;
-                    sensor = sensor.initialize(1, 1, 1, 1, 1, 1);
+                    sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3);
 
                     % Initialize candidate agent
                     newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
@@ -434,7 +434,7 @@ classdef test_miSim < matlab.unittest.TestCase
             
             % Initialize agent sensor model
             sensor = sigmoidSensor;
-            sensor = sensor.initialize(1, 1, 1, 1, 1, 1);
+            sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3);
     
             % Initialize agents
             tc.agents = {agent; agent};