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per-UAV parameters

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This commit is contained in:
Kevin Dee
2026-03-03 16:18:07 -08:00
parent f40d2bfd84
commit 438ebda388
13 changed files with 171 additions and 83 deletions
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50
@miSim/initializeFromCsv.m
View File

@@ -14,9 +14,12 @@ function obj = initializeFromCsv(obj, csvPath)
%
% Expected CSV columns (see scenario.csv):
% timestep, maxIter, minAlt, discretizationStep, protectedRange,
% initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange,
% alphaDist, betaDist, alphaTilt, betaTilt,
% initialStepSize, barrierGain, barrierExponent,
% collisionRadius (per-UAV), comRange (per-UAV),
% alphaDist (per-UAV), betaDist (per-UAV),
% alphaTilt (per-UAV), betaTilt (per-UAV),
% domainMin ("x,y,z"), domainMax ("x,y,z"), objectivePos ("x,y"),
% objectiveVar ("v11,v12,v21,v22"), sensorPerformanceMinimum,
% initialPositions (flat "x1,y1,z1, x2,y2,z2,..."),
% numObstacles, obstacleMin (flat), obstacleMax (flat)
@@ -39,12 +42,13 @@ PROTECTED_RANGE = scenario.protectedRange;
INITIAL_STEP_SIZE = scenario.initialStepSize;
BARRIER_GAIN = scenario.barrierGain;
BARRIER_EXPONENT = scenario.barrierExponent;
COLLISION_RADIUS = scenario.collisionRadius;
COMMS_RANGE = scenario.comRange;
ALPHA_DIST = scenario.alphaDist;
BETA_DIST = scenario.betaDist;
ALPHA_TILT = scenario.alphaTilt;
BETA_TILT = scenario.betaTilt;
% Per-UAV parameters (vectors with one element per UAV)
COLLISION_RADIUS_VEC = scenario.collisionRadius; % 1×N
COMMS_RANGE_VEC = scenario.comRange; % 1×N
ALPHA_DIST_VEC = scenario.alphaDist; % 1×N
BETA_DIST_VEC = scenario.betaDist; % 1×N
ALPHA_TILT_VEC = scenario.alphaTilt; % 1×N
BETA_TILT_VEC = scenario.betaTilt; % 1×N
DOMAIN_MIN = scenario.domainMin; % 1×3
DOMAIN_MAX = scenario.domainMax; % 1×3
@@ -59,6 +63,20 @@ assert(mod(numel(flatPos), 3) == 0, ...
positions = reshape(flatPos, 3, [])'; % N×3
numAgents = size(positions, 1);
% Validate per-UAV parameter lengths match numAgents
assert(numel(COLLISION_RADIUS_VEC) == numAgents, ...
"collisionRadius has %d values but expected %d (one per UAV)", numel(COLLISION_RADIUS_VEC), numAgents);
assert(numel(COMMS_RANGE_VEC) == numAgents, ...
"comRange has %d values but expected %d (one per UAV)", numel(COMMS_RANGE_VEC), numAgents);
assert(numel(ALPHA_DIST_VEC) == numAgents, ...
"alphaDist has %d values but expected %d (one per UAV)", numel(ALPHA_DIST_VEC), numAgents);
assert(numel(BETA_DIST_VEC) == numAgents, ...
"betaDist has %d values but expected %d (one per UAV)", numel(BETA_DIST_VEC), numAgents);
assert(numel(ALPHA_TILT_VEC) == numAgents, ...
"alphaTilt has %d values but expected %d (one per UAV)", numel(ALPHA_TILT_VEC), numAgents);
assert(numel(BETA_TILT_VEC) == numAgents, ...
"betaTilt has %d values but expected %d (one per UAV)", numel(BETA_TILT_VEC), numAgents);
numObstacles = scenario.numObstacles;
% ---- Build domain --------------------------------------------------------
@@ -70,19 +88,23 @@ dom.objective = sensingObjective;
objFcn = objectiveFunctionWrapper(OBJECTIVE_GROUND_POS, OBJECTIVE_VAR);
dom.objective = dom.objective.initialize(objFcn, dom, DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);
% ---- Build shared sensor model -------------------------------------------
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST, BETA_DIST, ALPHA_TILT, BETA_TILT);
% ---- Initialise agents from scenario positions ---------------------------
% Each agent gets its own sensor model and collision/comms radii from the
% per-UAV parameter vectors.
agentList = cell(numAgents, 1);
for ii = 1:numAgents
pos = positions(ii, :);
% Per-UAV sensor model
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST_VEC(ii), BETA_DIST_VEC(ii), ...
ALPHA_TILT_VEC(ii), BETA_TILT_VEC(ii));
geom = spherical;
geom = geom.initialize(pos, COLLISION_RADIUS, REGION_TYPE.COLLISION, ...
geom = geom.initialize(pos, COLLISION_RADIUS_VEC(ii), REGION_TYPE.COLLISION, ...
sprintf("UAV %d Collision", ii));
ag = agent;
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE, MAX_ITER, ...
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE_VEC(ii), MAX_ITER, ...
INITIAL_STEP_SIZE, sprintf("UAV %d", ii));
agentList{ii} = ag;
end

2
aerpaw/config/scenario.csv
View File

@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 30.0, 0.1, 1.0, 2.0, 100, 3, 3.0, 30.0, 80.0, 0.25, 5.0, 0.1, "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 2e-1, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 0, "", ""
5, 100, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 0, "", ""
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 30.0 0.1 1.0 2.0 100 3 3.0 3.0, 3.0 30.0 30.0, 30.0 80.0 80.0, 80.0 0.25 0.25, 0.25 5.0 5.0, 5.0 0.1 0.1, 0.1 0.0, 0.0, 0.0 50.0, 50.0, 80.0 35.0, 35.0 10, 5, 5, 10 2e-1 0.15 5.0, 10.0, 45.0, 15.0, 10.0, 35.0 0

2
aerpaw/controller.coderprj
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@@ -1095,7 +1095,7 @@
</Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success>
<Timestamp>2026-03-03T15:32:50</Timestamp>
<Timestamp>2026-03-03T15:54:20</Timestamp>
</MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0>

2
aerpaw/controller.m
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@@ -34,7 +34,7 @@ else
end
% Load guidance scenario from CSV (parameters for guidance_step)
NUM_SCENARIO_PARAMS = 27;
NUM_SCENARIO_PARAMS = 45;
MAX_OBSTACLES_CTRL = int32(8);
scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3);

62
aerpaw/guidance_step.m
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@@ -18,17 +18,17 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
% On MATLAB path this is ignored; parameters are loaded
% from scenario.csv via initializeFromCsv instead.
% Index mapping (1-based):
% 1 timestep 9 collisionRadius
% 2 maxIter 10 comRange
% 3 minAlt 11 alphaDist
% 4 discretizationStep 12 betaDist
% 5 protectedRange 13 alphaTilt
% 6 initialStepSize 14 betaTilt
% 7 barrierGain 15-17 domainMin
% 8 barrierExponent 18-20 domainMax
% 21-22 objectivePos
% 23-26 objectiveVar (2x2, col-major)
% 27 sensorPerformanceMinimum
% 1 timestep 9-12 collisionRadius[1:4]
% 2 maxIter 13-16 comRange[1:4]
% 3 minAlt 17-20 alphaDist[1:4]
% 4 discretizationStep 21-24 betaDist[1:4]
% 5 protectedRange 25-28 alphaTilt[1:4]
% 6 initialStepSize 29-32 betaTilt[1:4]
% 7 barrierGain 33-35 domainMin
% 8 barrierExponent 36-38 domainMax
% 39-40 objectivePos
% 41-44 objectiveVar (2x2, col-major)
% 45 sensorPerformanceMinimum
% obstacleMin (MAX_OBSTACLES × 3) double column-major obstacle corners (compiled path)
% obstacleMax (MAX_OBSTACLES × 3) double
% numObstacles (1,1) int32 actual obstacle count
@@ -72,6 +72,8 @@ if isInit
else
% ================================================================
% Compiled path: unpack scenarioParams array and obstacle arrays.
% Per-UAV parameters are stored as MAX_CLIENTS-wide blocks; only
% the first numAgents entries of each block are used.
% ================================================================
TIMESTEP = scenarioParams(1);
MAX_ITER = int32(scenarioParams(2));
@@ -81,17 +83,17 @@ if isInit
INITIAL_STEP_SIZE = scenarioParams(6);
BARRIER_GAIN = scenarioParams(7);
BARRIER_EXPONENT = scenarioParams(8);
COLLISION_RADIUS = scenarioParams(9);
COMMS_RANGE = scenarioParams(10);
ALPHA_DIST = scenarioParams(11);
BETA_DIST = scenarioParams(12);
ALPHA_TILT = scenarioParams(13);
BETA_TILT = scenarioParams(14);
DOMAIN_MIN = scenarioParams(15:17);
DOMAIN_MAX = scenarioParams(18:20);
OBJECTIVE_GROUND_POS = scenarioParams(21:22);
OBJECTIVE_VAR = reshape(scenarioParams(23:26), 2, 2);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(27);
COLLISION_RADIUS_VEC = scenarioParams(9:12); % per-UAV [1:MAX_CLIENTS]
COMMS_RANGE_VEC = scenarioParams(13:16);
ALPHA_DIST_VEC = scenarioParams(17:20);
BETA_DIST_VEC = scenarioParams(21:24);
ALPHA_TILT_VEC = scenarioParams(25:28);
BETA_TILT_VEC = scenarioParams(29:32);
DOMAIN_MIN = scenarioParams(33:35);
DOMAIN_MAX = scenarioParams(36:38);
OBJECTIVE_GROUND_POS = scenarioParams(39:40);
OBJECTIVE_VAR = reshape(scenarioParams(41:44), 2, 2);
SENSOR_PERFORMANCE_MINIMUM = scenarioParams(45);
% --- Build domain geometry ---
dom = rectangularPrism;
@@ -112,19 +114,21 @@ if isInit
dom.objective = dom.objective.initializeWithValues(objValues, dom, ...
DISCRETIZATION_STEP, PROTECTED_RANGE, SENSOR_PERFORMANCE_MINIMUM);
% --- Build shared sensor model ---
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST, BETA_DIST, ALPHA_TILT, BETA_TILT);
% --- Initialise agents from GPS positions ---
% --- Initialise agents from GPS positions (per-UAV parameters) ----
agentList = cell(numAgents, 1);
for ii = 1:numAgents
pos = currentPositions(ii, :);
% Per-UAV sensor model
sensor = sigmoidSensor;
sensor = sensor.initialize(ALPHA_DIST_VEC(ii), BETA_DIST_VEC(ii), ...
ALPHA_TILT_VEC(ii), BETA_TILT_VEC(ii));
geom = spherical;
geom = geom.initialize(pos, COLLISION_RADIUS, REGION_TYPE.COLLISION, ...
geom = geom.initialize(pos, COLLISION_RADIUS_VEC(ii), REGION_TYPE.COLLISION, ...
sprintf("UAV %d Collision", ii));
ag = agent;
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE, MAX_ITER, ...
ag = ag.initialize(pos, geom, sensor, COMMS_RANGE_VEC(ii), MAX_ITER, ...
INITIAL_STEP_SIZE, sprintf("UAV %d", ii));
agentList{ii} = ag;
end

73
aerpaw/impl/controller_impl.cpp
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@@ -174,14 +174,19 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
// Load guidance parameters from scenario.csv into flat params[NUM_SCENARIO_PARAMS].
// Index mapping (0-based):
// 0-13 : timestep, maxIter, minAlt, discretizationStep, protectedRange,
// initialStepSize, barrierGain, barrierExponent, collisionRadius,
// comRange, alphaDist, betaDist, alphaTilt, betaTilt
// 14-16: domainMin (east, north, up)
// 17-19: domainMax (east, north, up)
// 20-21: objectivePos (east, north)
// 22-25: objectiveVar (2x2 col-major: v11, v12, v21, v22)
// 26 : sensorPerformanceMinimum
// 0-7 : timestep, maxIter, minAlt, discretizationStep, protectedRange,
// initialStepSize, barrierGain, barrierExponent
// 8-11 : collisionRadius[1:4] (per-UAV, MAX_CLIENTS_PER_PARAM slots)
// 12-15: comRange[1:4]
// 16-19: alphaDist[1:4]
// 20-23: betaDist[1:4]
// 24-27: alphaTilt[1:4]
// 28-31: betaTilt[1:4]
// 32-34: domainMin (east, north, up)
// 35-37: domainMax (east, north, up)
// 38-39: objectivePos (east, north)
// 40-43: objectiveVar (2x2 col-major: v11, v12, v21, v22)
// 44 : sensorPerformanceMinimum
// Returns 1 on success, 0 on failure.
int loadScenario(const char* filename, double* params) {
char line[4096];
@@ -198,16 +203,52 @@ int loadScenario(const char* filename, double* params) {
return 0;
}
// Scalar fields (columns 0–13)
for (int i = 0; i < 14; i++) {
// Zero-initialise all params so unused per-UAV slots default to 0
for (int i = 0; i < NUM_SCENARIO_PARAMS; i++) params[i] = 0.0;
// Scalar fields (columns 0–7): timestep..barrierExponent
for (int i = 0; i < 8; i++) {
params[i] = atof(trimField(fields[i]));
}
// Per-UAV fields (columns 8–13): collisionRadius, comRange,
// alphaDist, betaDist, alphaTilt, betaTilt.
// Each is a quoted comma-separated list with up to MAX_CLIENTS_PER_PARAM values.
// Stored in params as consecutive blocks of MAX_CLIENTS_PER_PARAM (4) slots.
{
const int perUavCols[] = {8, 9, 10, 11, 12, 13};
const int perUavOffsets[] = {8, 12, 16, 20, 24, 28}; // 0-based param indices
const char* perUavNames[] = {"collisionRadius", "comRange",
"alphaDist", "betaDist",
"alphaTilt", "betaTilt"};
for (int p = 0; p < 6; p++) {
char tmp[256];
strncpy(tmp, fields[perUavCols[p]], sizeof(tmp) - 1);
tmp[sizeof(tmp) - 1] = '\0';
char* t = trimField(tmp);
// Parse comma-separated values
double vals[4] = {0, 0, 0, 0};
int count = 0;
char* tok = strtok(t, ",");
while (tok && count < MAX_CLIENTS_PER_PARAM) {
vals[count++] = atof(tok);
tok = strtok(nullptr, ",");
}
if (count == 0) {
fprintf(stderr, "loadScenario: failed to parse %s\n", perUavNames[p]);
return 0;
}
for (int k = 0; k < MAX_CLIENTS_PER_PARAM; k++) {
params[perUavOffsets[p] + k] = vals[k];
}
}
}
// domainMin: column 14, format "east, north, up"
{
char tmp[256]; strncpy(tmp, fields[14], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf", &params[14], &params[15], &params[16]) != 3) {
if (sscanf(t, "%lf , %lf , %lf", &params[32], &params[33], &params[34]) != 3) {
fprintf(stderr, "loadScenario: failed to parse domainMin: %s\n", t);
return 0;
}
@@ -217,7 +258,7 @@ int loadScenario(const char* filename, double* params) {
{
char tmp[256]; strncpy(tmp, fields[15], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf", &params[17], &params[18], &params[19]) != 3) {
if (sscanf(t, "%lf , %lf , %lf", &params[35], &params[36], &params[37]) != 3) {
fprintf(stderr, "loadScenario: failed to parse domainMax: %s\n", t);
return 0;
}
@@ -227,7 +268,7 @@ int loadScenario(const char* filename, double* params) {
{
char tmp[256]; strncpy(tmp, fields[16], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf", &params[20], &params[21]) != 2) {
if (sscanf(t, "%lf , %lf", &params[38], &params[39]) != 2) {
fprintf(stderr, "loadScenario: failed to parse objectivePos: %s\n", t);
return 0;
}
@@ -237,7 +278,7 @@ int loadScenario(const char* filename, double* params) {
{
char tmp[256]; strncpy(tmp, fields[17], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
char* t = trimField(tmp);
if (sscanf(t, "%lf , %lf , %lf , %lf", &params[22], &params[23], &params[24], &params[25]) != 4) {
if (sscanf(t, "%lf , %lf , %lf , %lf", &params[40], &params[41], &params[42], &params[43]) != 4) {
fprintf(stderr, "loadScenario: failed to parse objectiveVar: %s\n", t);
return 0;
}
@@ -246,11 +287,11 @@ int loadScenario(const char* filename, double* params) {
// sensorPerformanceMinimum: column 18
{
char tmp[64]; strncpy(tmp, fields[18], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
params[26] = atof(trimField(tmp));
params[44] = atof(trimField(tmp));
}
printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
params[14], params[15], params[16], params[17], params[18], params[19]);
params[32], params[33], params[34], params[35], params[36], params[37]);
return 1;
}

18
aerpaw/impl/controller_impl.h
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@@ -17,9 +17,21 @@ int loadTargets(const char* filename, double* targets, int maxClients);
// Scenario loading (scenario.csv)
// Number of elements in the flat params array passed to guidance_step.
// Indices: 0-13 scalars, 14-16 domainMin, 17-19 domainMax, 20-21 objectivePos,
// 22-25 objectiveVar (2x2 col-major: [v11,v12,v21,v22]), 26 sensorPerformanceMinimum.
#define NUM_SCENARIO_PARAMS 27
// Indices (0-based):
// 0-7 scalars (timestep..barrierExponent)
// 8-11 collisionRadius[1:4] (per-UAV, MAX_CLIENTS slots)
// 12-15 comRange[1:4]
// 16-19 alphaDist[1:4]
// 20-23 betaDist[1:4]
// 24-27 alphaTilt[1:4]
// 28-31 betaTilt[1:4]
// 32-34 domainMin
// 35-37 domainMax
// 38-39 objectivePos
// 40-43 objectiveVar (2x2 col-major)
// 44 sensorPerformanceMinimum
#define NUM_SCENARIO_PARAMS 45
#define MAX_CLIENTS_PER_PARAM 4
// Maximum number of obstacles (upper bound for pre-allocated arrays).
#define MAX_OBSTACLES 8

16
aerpaw/results/plotGpsCsvs.m
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@@ -20,7 +20,7 @@ fclose(fID);
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
% Paths to logs
gpsCsvs = dir(fullfile("sandbox", "test9", "*.csv"));
gpsCsvs = dir(fullfile("sandbox", "test10", "*.csv"));
G = cell(size(gpsCsvs));
for ii = 1:size(gpsCsvs, 1)
@@ -38,18 +38,13 @@ for ii = 1:size(gpsCsvs, 1)
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
% % Plot whole flight, including setup/cleanup
% startIdx = 1;
% stopIdx = length(verticalSpeed);
startIdx = 1;
stopIdx = length(verticalSpeed);
% Plot recorded trajectory over specified range of indices
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
end
% Plot objective
objectivePos = [params.objectivePos, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3, "Color", 'y');
% Plot domain
altOffset = 1; % to avoid clipping into the ground when displayed
domain = [lla0; enu2lla(params.domainMax, lla0, 'flat')];
@@ -64,5 +59,10 @@ geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(
floorAlt = params.minAlt;
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset + floorAlt, 1, 5), 'LineWidth', 3, 'Color', 'r');
% Plot objective
objectivePos = [params.objectivePos, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
% finish
hold(gf, "off");

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/soCFsvL91lhqvUw-h8HkHCtfsiwd.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/soCFsvL91lhqvUw-h8HkHCtfsiwp.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="test10" type="File"/>

2
resources/project/soCFsvL91lhqvUw-h8HkHCtfsiw/1fQ44ZBWSpGWUWzrR6iBNoEkvh4d.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/soCFsvL91lhqvUw-h8HkHCtfsiw/1fQ44ZBWSpGWUWzrR6iBNoEkvh4p.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>

21
test/parametricTestSuite.m
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@@ -30,7 +30,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
function test_AERPAW_scenario(tc)
% Load scenario definition
tc.csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
params = tc.testClass.readScenarioCsv(tc.csvPath);
params = readScenarioCsv(tc.csvPath);
% Define scenario according to CSV specification
tc.domain = tc.domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
@@ -41,16 +41,20 @@ classdef parametricTestSuite < matlab.unittest.TestCase
agents{ii} = agent;
sensorModel = sigmoidSensor;
sensorModel = sensorModel.initialize(params.alphaDist, params.betaDist, params.alphaTilt, params.betaTilt);
sensorModel = sensorModel.initialize(params.alphaDist(ii), params.betaDist(ii), params.alphaTilt(ii), params.betaTilt(ii));
collisionGeometry = spherical;
collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius, REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange, params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), tc.plotCommsGeometry);
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), tc.plotCommsGeometry);
end
% TODO
obstacles = {};
% Create obstacles
obstacles = cell(params.numObstacles, 1);
for ii = 1:size(obstacles, 1)
obstacles{ii} = rectangularPrism;
obstacles{ii} = obstacles{ii}.initialize([params.obstacleMin((((ii - 1) * 3) + 1):(ii * 3)); params.obstacleMax((((ii - 1) * 3) + 1):(ii * 3))], "OBSTACLE", sprintf("Obstacle %d", ii));
end
% Set up simulation
tc.testClass = tc.testClass.initialize(tc.domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, tc.makePlots, tc.makeVideo);
@@ -60,13 +64,10 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Run
tc.testClass = tc.testClass.run();
% Cleanup
tc.testClass = tc.testClass.teardown();
end
function csv_parametric_tests_random_agents(tc)
% Read in parameters to iterate over
params = tc.testClass.readScenarioCsv(tc.csvPath);
params = readScenarioCsv(tc.csvPath);
% Test case setup
l = 10; % domain size