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fixed initial altitude range

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This commit is contained in:
Kevin D
2025-11-18 13:56:25 -08:00
parent b62f0f6410
commit 58d009c8fc
2 changed files with 7 additions and 4 deletions
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3
.gitignore vendored
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@@ -45,3 +45,6 @@ sandbox/*
# Videos # Videos
*.mp4 *.mp4
*.avi *.avi
# Figures
*.fig

8
test/test_miSim.m
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@@ -25,8 +25,8 @@ classdef test_miSim < matlab.unittest.TestCase
objective = sensingObjective; objective = sensingObjective;
% Agents % Agents
minAgents = 3; % Minimum number of agents to be randomly generated minAgents = 2; % Minimum number of agents to be randomly generated
maxAgents = 6; % Maximum number of agents to be randomly generated maxAgents = 4; % Maximum number of agents to be randomly generated
sensingLength = 0.05; % length parameter used by sensing function sensingLength = 0.05; % length parameter used by sensing function
agents = cell(0, 1); agents = cell(0, 1);
@@ -46,7 +46,7 @@ classdef test_miSim < matlab.unittest.TestCase
alphaTiltMax = deg2rad(30); alphaTiltMax = deg2rad(30);
% Communications % Communications
comRange = 5; % Maximum range between agents that forms a communications link comRange = 8; % Maximum range between agents that forms a communications link
end end
% Setup for each test % Setup for each test
@@ -104,7 +104,7 @@ classdef test_miSim < matlab.unittest.TestCase
if ii == 1 if ii == 1
while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2) while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2)
candidatePos = tc.domain.random(); candidatePos = tc.domain.random();
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 candidatePos(3) = 2 + rand * 2; % place agents at decent altitudes for sensing
end end
else else
candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2)); candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));