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added 2 objective support for AERPAW

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This commit is contained in:
Kevin Dee
2026-05-25 14:51:39 -07:00
parent c9774622f2
commit 4eefe1b9ac
5 changed files with 87 additions and 43 deletions
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@miSim/initializeFromCsv.m
+13 -2
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@@ -52,8 +52,19 @@ BETA_TILT_VEC = scenario.betaTilt; % 1×N
DOMAIN_MIN = scenario.domainMin; % 1×3
DOMAIN_MAX = scenario.domainMax; % 1×3
OBJECTIVE_GROUND_POS = scenario.objectivePos; % 1×2
OBJECTIVE_VAR = reshape(scenario.objectiveVar, 2, 2); % 2×2 covariance matrix
% objectivePos: 2 values per Gaussian component (1 or 2 components supported)
nObjComponents = numel(scenario.objectivePos) / 2;
assert(mod(numel(scenario.objectivePos), 2) == 0, ...
'objectivePos must have an even number of values (2 per Gaussian component)');
assert(nObjComponents >= 1 && nObjComponents <= 2, ...
'At most 2 objective Gaussian components supported; got %d', nObjComponents);
assert(numel(scenario.objectiveVar) == nObjComponents * 4, ...
'objectiveVar must have %d values for %d component(s); got %d', ...
nObjComponents * 4, nObjComponents, numel(scenario.objectiveVar));
OBJECTIVE_GROUND_POS = reshape(scenario.objectivePos, 2, nObjComponents)'; % nObj×2
OBJECTIVE_VAR = permute(reshape(scenario.objectiveVar, 2, 2, nObjComponents), [3, 1, 2]); % nObj×2×2
SENSOR_PERFORMANCE_MINIMUM = scenario.sensorPerformanceMinimum; % scalar
% Initial UAV positions: flat vector reshaped to N×3