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debugging comms constraints

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This commit is contained in:
Kevin Dee
2025-12-31 20:54:01 -08:00
parent d6a9c4ac06
commit 4735c2b77b
4 changed files with 30 additions and 22 deletions
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6
test/test_miSim.m
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@@ -507,7 +507,7 @@ classdef test_miSim < matlab.unittest.TestCase
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.5, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -516,8 +516,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 4, 1, sprintf("Agent %d", 1), false, false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 4, 2, sprintf("Agent %d", 2), false, false);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 10, 1, sprintf("Agent %d", 1), false, false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 10, 2, sprintf("Agent %d", 2), false, false);
% Initialize obstacles
obstacleLength = 1;