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moved origin to get more space from geofence

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This commit is contained in:
Kevin Dee
2026-03-02 12:15:01 -08:00
parent 1d4f59734b
commit 5408a31d56
16 changed files with 64 additions and 10 deletions
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2
@agent/run.m
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@@ -79,7 +79,7 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
% Guard against near-zero gradient: when sensor performance is saturated % Guard against near-zero gradient: when sensor performance is saturated
% or near-zero across the whole partition, rateFactor -> Inf and pNext % or near-zero across the whole partition, rateFactor -> Inf and pNext
% explodes. Stay put instead. % explodes. Stay put instead.
if gradNorm < 1e-10 if gradNorm < 1e-100
pNext = obj.pos; pNext = obj.pos;
else else
pNext = obj.pos + (targetRate / gradNorm) * gradC; pNext = obj.pos + (targetRate / gradNorm) * gradC;

4
aerpaw/config/client.yaml
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@@ -2,8 +2,8 @@
# ENU coordinate system origin (AERPAW Lake Wheeler Road Field) # ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
origin: origin:
lat: 35.727436 lat: 35.72550610629396
lon: -78.696471 lon: -78.70019657805574
alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home
# Environment-specific settings # Environment-specific settings
environments: environments:

2
aerpaw/config/scenario.csv
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@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 25.0, 0.1, 1.0, 1.0, 100, 3, 3.0, 60.0, 60.0, 0.2, 10.0, 1.0, "0.0, 0.0, 0.0", "20.0, 20.0, 55.0", "10.0, 10.0", 1e-6, "5.0, 10.0, 45.0, 15.0, 10.0, 30.0", 0, "", "" 5, 100, 25.0, 0.1, 1.0, 1.0, 100, 3, 3.0, 30.0, 60.0, 0.2, 10.0, 1.0, "0.0, 0.0, 0.0", "50.0, 50.0, 100.0", "35.0, 35.0", 1e-6, "5.0, 10.0, 45.0, 15.0, 10.0, 30.0", 0, "", ""
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 25.0 0.1 1.0 1.0 100 3 3.0 60.0 30.0 60.0 0.2 10.0 1.0 0.0, 0.0, 0.0 20.0, 20.0, 55.0 50.0, 50.0, 100.0 10.0, 10.0 35.0, 35.0 1e-6 5.0, 10.0, 45.0, 15.0, 10.0, 30.0 0

12
aerpaw/controller.coderprj
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@@ -93,6 +93,16 @@
<Size type="coderapp.internal.codertype.Dimension"/> <Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/> <Size type="coderapp.internal.codertype.Dimension"/>
</Types> </Types>
<Types id="19" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="20" type="coderapp.internal.codertype.PrimitiveType">
<ClassName>int32</ClassName>
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
</Types> </Types>
</coderapp.internal.interface.project.Interface> </coderapp.internal.interface.project.Interface>
</MF0> </MF0>
@@ -1060,7 +1070,7 @@
</Artifacts> </Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/> <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success> <Success>true</Success>
<Timestamp>2026-02-27T17:26:39</Timestamp> <Timestamp>2026-03-02T11:41:10</Timestamp>
</MainBuildResult> </MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState> </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0> </MF0>

32
aerpaw/results/plotGpsCsvs.m
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@@ -4,11 +4,12 @@ gf = geoglobe(f);
hold(gf, "on"); hold(gf, "on");
c = ["r", "g", "b", "m", "c", "y", "k"]; % plotting colors c = ["r", "g", "b", "m", "c", "y", "k"]; % plotting colors
seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
lla0 = [35.72550610629396, -78.70019657805574, seaToGroundLevel]; % origin (LLA)
% Paths to logs % Paths to logs
gpsCsvs = fullfile ("sandbox", "test2", ... gpsCsvs = fullfile ("sandbox", "test4", ...
["GPS_DATA_0c8d904aa159_2026-02-27_20:52:33.csv"; ... ["GPS_DATA_0c8d904aa159_2026-03-02_14:42:51.csv"; ...
"GPS_DATA_8e4f52dac04d_2026-02-27_20:52:33.csv"; ... "GPS_DATA_8e4f52dac04d_2026-03-02_14:42:52.csv"; ...
]); ]);
G = cell(size(gpsCsvs)); G = cell(size(gpsCsvs));
@@ -16,8 +17,31 @@ for ii = 1:size(gpsCsvs, 1)
% Read CSV % Read CSV
G{ii} = readGpsCsv(gpsCsvs(ii)); G{ii} = readGpsCsv(gpsCsvs(ii));
% Find when algorithm begins/ends (using ENU altitude)
enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat');
verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]);
startIdx = find(verticalSpeed <= prctile(verticalSpeed, 25), 1, 'first');
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, 10), 1, 'last');
% startIdx = 1;
% stopIdx = length(verticalSpeed);
speed = vecnorm(diff(enuTraj), 2, 2);
meanSpeed = movmean(speed, [10, 0]);
% Plot recorded trajectory % Plot recorded trajectory
geoplot3(gf, G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5); 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 end
% Plot objective
objectivePos = [35, 35, 0];
llaObj = enu2lla(objectivePos, lla0, 'flat');
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), llaObj(3) + 50], 'LineWidth', 3);
% Plot domain
domain = [lla0; enu2lla([50, 50, 100], lla0, 'flat')];
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) + 10, 1, 5), 'LineWidth', 3);
hold(gf, "off"); hold(gf, "off");

2
resources/project/6V6Vr7QAsqxEmRj-ezOm1ygcTak/bJiTrGQ5GQ9DMI6whRMInBQY2yQd.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/6V6Vr7QAsqxEmRj-ezOm1ygcTak/bJiTrGQ5GQ9DMI6whRMInBQY2yQp.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>

2
resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/TTsh0h9cBRUx2c5O2kJyFwG-XEQd.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info Ref="aerpaw/config" Type="Relative"/>

2
resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/TTsh0h9cBRUx2c5O2kJyFwG-XEQp.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="aababef5-9f49-40b0-be1a-63743f2447a1" type="Reference"/>

2
resources/project/pjpApCZ_IyThRbNNVtyf0HS9lGA/OvzpqD8IaJL2rl4SaQSOPQ-QRMkd.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/pjpApCZ_IyThRbNNVtyf0HS9lGA/OvzpqD8IaJL2rl4SaQSOPQ-QRMkp.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/6V6Vr7QAsqxEmRj-ezOm1ygcTakd.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/6V6Vr7QAsqxEmRj-ezOm1ygcTakp.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="test4" type="File"/>

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/pjpApCZ_IyThRbNNVtyf0HS9lGAd.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/pjpApCZ_IyThRbNNVtyf0HS9lGAp.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="test3" type="File"/>

2
test/parametricTestSuite.m
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@@ -27,7 +27,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
methods (Test) methods (Test)
% Test cases % Test cases
function test_scenario(tc) function test_AERPAW_scenario(tc)
% Load scenario definition % Load scenario definition
tc.csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv"); tc.csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
params = tc.testClass.readScenarioCsv(tc.csvPath); params = tc.testClass.readScenarioCsv(tc.csvPath);