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added early exit from main loop for semistable final states

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This commit is contained in:
Kevin D
2025-11-24 23:34:43 -08:00
parent 297ddbf160
commit 48763eb78c
4 changed files with 30 additions and 7 deletions
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15
test/test_miSim.m
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@@ -104,10 +104,11 @@ classdef test_miSim < matlab.unittest.TestCase
if ii == 1
while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2)
candidatePos = tc.domain.random();
candidatePos(3) = 2 + rand * 1.5; % place agents at decent altitudes for sensing
candidatePos(3) = 1 + rand * 3; % place agents at decent altitudes for sensing
end
else
candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));
candidatePos(3) = 1 + rand * 3; % place agents at decent altitudes for sensing
end
% Make sure that the candidate position is within the
@@ -239,6 +240,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
else
candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));
candidatePos(3) = min([tc.domain.maxCorner(3) * 0.95, 0.5 + rand * (tc.alphaDistMax * (1.1) - 0.5)]); % place agents at decent altitudes for sensing
end
% Make sure that the candidate position is within the
@@ -359,10 +361,12 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sigmoidSensor;
% Homogeneous sensor model parameters
sensor = sensor.initialize(2.75, 9, NaN, NaN, 22.5, 9);
f = sensor.plotParameters();
% Heterogeneous sensor model parameters
% sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Plot sensor parameters (optional)
% f = sensor.plotParameters();
% Initialize agents
tc.agents = {agent; agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d, 1, sprintf("Agent %d", 1));
@@ -376,6 +380,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
close(tc.testClass.fPerf);
end
function test_single_partition(tc)
% make basic domain
@@ -383,7 +388,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange);
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2) + rand(1, 2) * 6 - 3), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
geometry1 = rectangularPrism;
@@ -395,6 +400,8 @@ classdef test_miSim < matlab.unittest.TestCase
% sensor = sensor.initialize(2.5666, 5.0807, NaN, NaN, 20.8614, 13); % 13
alphaDist = l/2; % half of domain length/width
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 20, 3);
% Plot sensor parameters (optional)
f = sensor.plotParameters();
% Initialize agents
@@ -403,7 +410,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
close(tc.testClass.fPerf);
end
end