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added debug visualization for agent GA

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This commit is contained in:
Kevin Dee
2025-11-30 11:00:39 -08:00
parent f9f070e2d0
commit 4e0f213d0c
5 changed files with 88 additions and 10 deletions
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29
@agent/initialize.m
View File

@@ -1,4 +1,4 @@
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label)
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label, debug)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'agent')};
pos (1, 3) double;
@@ -11,6 +11,7 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
comRange (1, 1) double = NaN;
index (1, 1) double = NaN;
label (1, 1) string = "";
debug (1, 1) logical = false;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'agent')};
@@ -26,6 +27,32 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
obj.comRange = comRange;
obj.index = index;
obj.label = label;
obj.debug = debug;
if obj.debug
obj.debugFig = figure;
tiledlayout(obj.debugFig, "TileSpacing", "tight", "Padding", "compact");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Objective View");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Sensor Performance View");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Gradient Objective View");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Gradient Sensor Performance View");
end
% Initialize FOV cone
obj.fovGeometry = cone;