kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

unit test updates

Browse Source
This commit is contained in:
Kevin Dee
2026-01-06 20:22:28 -08:00
parent 1e7540226e
commit 591430ad8a
2 changed files with 37 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
test/test_miSim.m
View File

@@ -388,8 +388,13 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, 3*d);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
close(tc.testClass.fPerf);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), false, false);
tc.verifyEqual(tc.testClass.partitioning(500, 500:502), [2, 3, 1]); % all three near center
tc.verifyLessThan(sum(tc.testClass.partitioning == 1, 'all'), sum(tc.testClass.partitioning == 0, 'all')); % more non-assignments than partition 1 assignments
tc.verifyLessThan(sum(tc.testClass.partitioning == 2, 'all'), sum(tc.testClass.partitioning == 1, 'all')); % more partition 1 assignments than partition 2 assignments
tc.verifyLessThan(sum(tc.testClass.partitioning == 3, 'all'), sum(tc.testClass.partitioning == 2, 'all')); % more partition 3 assignments than partition 2 assignments
tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1; 2; 3;]);
end
function test_single_partition(tc)
% make basic domain
@@ -411,15 +416,18 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 20, 3);
% Plot sensor parameters (optional)
f = sensor.plotParameters();
% f = sensor.plotParameters();
% Initialize agents
tc.agents = {agent};
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, 3);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), false, false);
close(tc.testClass.fPerf);
tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1]);
tc.verifyLessThan(sum(tc.testClass.partitioning == 1, 'all'), sum(tc.testClass.partitioning == 0, 'all'));
end
function test_single_partition_basic_GA(tc)
% make basic domain
@@ -441,17 +449,22 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 20, 3);
% Plot sensor parameters (optional)
f = sensor.plotParameters();
% f = sensor.plotParameters();
% Initialize agents
tc.agents = {agent};
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, 3, "", true);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 80, cell(0, 1), false, false);
% Run the simulation
tc.testClass.run();
tc.testClass = tc.testClass.run();
if isgraphics(tc.testClass.agents{1}.debugFig)
close(tc.testClass.agents{1}.debugFig);
end
tc.verifyGreaterThan(tc.testClass.performance(end)/max(tc.testClass.performance), 0.99); % ends up very near a relative maximum
end
function test_collision_avoidance(tc)
% No obstacles
@@ -481,11 +494,11 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.agents = {agent; agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, zeros(1,3), 0, 0, geometry1, sensor, 3);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, 3);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, zeros(1,3), 0, 0, geometry1, sensor, 5);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, 5);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo, tc.makePlots);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 50, cell(0, 1), tc.makeVideo, tc.makePlots);
% Run the simulation
tc.testClass.run();
@@ -502,15 +515,20 @@ 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(:)], [8, 5]), tc.domain, tc.discretizationStep, tc.protectedRange);
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], [8, 5.2195]), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
radius = 1.1;
d = [3, 0, 0];
yOffset = 0;
% choice of 0 leads to the agents getting stuck attempting to go around the obstacle on both sides
% choice of 1 leads to one agent easily going around while the other gets stuck and the communications link is broken
geometry1 = spherical;
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - d + [0.1, radius * 1.1, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - d - [0.1, radius * 1.1, 0], radius, REGION_TYPE.COLLISION);
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.1 - yOffset, 0], radius, REGION_TYPE.COLLISION);
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.1 + yOffset, 0], radius, REGION_TYPE.COLLISION);
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -525,11 +543,11 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
commsRadius = (2*radius + obstacleLength) * 0.9; % defined such that they cannot go around the obstacle on both sides
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0.1, radius * 1.1, 0], zeros(1,3), 0, 0, geometry1, sensor, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0.1, radius *1.1, 0], zeros(1,3), 0, 0, geometry2, sensor, commsRadius);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.1 - yOffset, 0], zeros(1,3), 0, 0, geometry1, sensor, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius *1.1 + yOffset, 0], zeros(1,3), 0, 0, geometry2, sensor, commsRadius);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, 100, tc.obstacles, tc.makeVideo);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles, tc.makeVideo);
% Run the simulation
tc.testClass.run();