diff --git a/agent.m b/agent.m
index 1cb27b7..1f338af 100644
--- a/agent.m
+++ b/agent.m
@@ -23,7 +23,7 @@ classdef agent
pos (1, 3) double;
vel (1, 3) double;
cBfromC (3, 3) double {mustBeDcm};
- collisionGeometry (1, 1) {mustBeConstraintGeometries};
+ collisionGeometry (1, 1) {mustBeGeometry};
index (1, 1) double = NaN;
label (1, 1) string = "";
end
diff --git a/geometries/rectangularPrismConstraint.m b/geometries/rectangularPrism.m
similarity index 64%
rename from geometries/rectangularPrismConstraint.m
rename to geometries/rectangularPrism.m
index d8f3bb4..c2b37a9 100644
--- a/geometries/rectangularPrismConstraint.m
+++ b/geometries/rectangularPrism.m
@@ -1,5 +1,5 @@
-classdef rectangularPrismConstraint
- % Rectangular prism constraint geometry
+classdef rectangularPrism
+ % Rectangular prism geometry
properties (SetAccess = private, GetAccess = public)
tag = REGION_TYPE.INVALID;
label = "";
@@ -19,13 +19,13 @@ classdef rectangularPrismConstraint
methods (Access = public)
function obj = initialize(obj, bounds, tag, label)
arguments (Input)
- obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+ obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
bounds (2, 3) double;
tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
label (1, 1) string = "";
end
arguments (Output)
- obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+ obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
end
obj.tag = tag;
@@ -59,26 +59,62 @@ classdef rectangularPrismConstraint
end
function r = random(obj)
arguments (Input)
- obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+ obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
end
arguments (Output)
r (1, 3) double
end
r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))';
end
+ function d = distance(obj, pos)
+ arguments (Input)
+ obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+ pos (:, 3) double;
+ end
+ arguments (Output)
+ d (:, 1) double
+ end
+ cPos = NaN(1, 3);
+ for ii = 1:3
+ if pos(ii) < obj.minCorner(ii)
+ cPos(ii) = obj.minCorner(ii);
+ elseif pos(ii) > obj.maxCorner(ii)
+ cPos(ii) = obj.maxCorner(ii);
+ else
+ cPos(ii) = pos(ii);
+ end
+ end
+ d = norm(cPos - pos);
+ end
+ function d = interiorDistance(obj, pos)
+ arguments (Input)
+ obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
+ pos (:, 3) double;
+ end
+ arguments (Output)
+ d (:, 1) double
+ end
+ % find minimum distance to any face
+ d = min([pos(1) - obj.minCorner(1), ...
+ pos(2) - obj.minCorner(2), ...
+ pos(3) - obj.minCorner(3), ...
+ obj.maxCorner(1) - pos(1), ...
+ obj.maxCorner(2) - pos(2), ...
+ obj.maxCorner(3) - pos(3)]);
+ end
function c = contains(obj, pos)
arguments (Input)
- obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+ obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
pos (:, 3) double;
end
arguments (Output)
c (:, 1) logical
end
- c = all(pos >= repmat(obj.minCorner, size(pos, 2), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 2), 1), 2);
+ c = all(pos >= repmat(obj.minCorner, size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 1), 1), 2);
end
function f = plotWireframe(obj, f)
arguments (Input)
- obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+ obj (1, 1) {mustBeA(obj, 'rectangularPrism')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
@@ -97,7 +133,7 @@ classdef rectangularPrismConstraint
Y = [obj.vertices(edges(:,1),2), obj.vertices(edges(:,2),2)]';
Z = [obj.vertices(edges(:,1),3), obj.vertices(edges(:,2),3)]';
- % Plot the boundaries of the constraint geometry
+ % Plot the boundaries of the geometry
hold(f.CurrentAxes, "on");
plot3(X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
hold(f.CurrentAxes, "off");
diff --git a/miSim.m b/miSim.m
index 9edb5c5..908f33f 100644
--- a/miSim.m
+++ b/miSim.m
@@ -3,20 +3,20 @@ classdef miSim
% Simulation parameters
properties (SetAccess = private, GetAccess = public)
- domain = rectangularPrismConstraint;
+ domain = rectangularPrism;
objective = sensingObjective;
- constraintGeometries = cell(0, 1); % geometries that define constraints within the domain
+ obstacles = cell(0, 1); % geometries that define obstacles within the domain
agents = cell(0, 1); % agents that move within the domain
end
methods (Access = public)
- function obj = initialize(obj, domain, objective, agents, constraintGeometries)
+ function obj = initialize(obj, domain, objective, agents, obstacles)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
- domain (1, 1) {mustBeConstraintGeometries};
+ domain (1, 1) {mustBeGeometry};
objective (1, 1) {mustBeA(objective, 'sensingObjective')};
agents (:, 1) cell {mustBeAgents};
- constraintGeometries (:, 1) cell {mustBeConstraintGeometries} = cell(0, 1);
+ obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
@@ -25,8 +25,8 @@ classdef miSim
%% Define domain
obj.domain = domain;
- %% Add constraint geometries against the domain
- obj.constraintGeometries = constraintGeometries;
+ %% Add geometries representing obstacles within the domain
+ obj.obstacles = obstacles;
%% Define objective
obj.objective = objective;
diff --git a/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/dcQXSYjif37BKJ8bynJny6jq5-sp.xml b/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/dcQXSYjif37BKJ8bynJny6jq5-sp.xml
deleted file mode 100644
index 6e6097c..0000000
--- a/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/dcQXSYjif37BKJ8bynJny6jq5-sp.xml
+++ /dev/null
@@ -1,2 +0,0 @@
-
-
\ No newline at end of file
diff --git a/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/dcQXSYjif37BKJ8bynJny6jq5-sd.xml b/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/oA3NoVC5FBKXh-LtCKBuVxHDs28d.xml
similarity index 100%
rename from resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/dcQXSYjif37BKJ8bynJny6jq5-sd.xml
rename to resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/oA3NoVC5FBKXh-LtCKBuVxHDs28d.xml
diff --git a/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/oA3NoVC5FBKXh-LtCKBuVxHDs28p.xml b/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/oA3NoVC5FBKXh-LtCKBuVxHDs28p.xml
new file mode 100644
index 0000000..60b28f2
--- /dev/null
+++ b/resources/project/M3axfhPiVFfHfWnq8PF7Q8OtKAU/oA3NoVC5FBKXh-LtCKBuVxHDs28p.xml
@@ -0,0 +1,2 @@
+
+
\ No newline at end of file
diff --git a/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/ia5FvKngd_-0tJFYAO64kIgybSkd.xml b/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/NmnqsjHeF9rAhG9A30BKV_vI7tId.xml
similarity index 100%
rename from resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/ia5FvKngd_-0tJFYAO64kIgybSkd.xml
rename to resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/NmnqsjHeF9rAhG9A30BKV_vI7tId.xml
diff --git a/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/NmnqsjHeF9rAhG9A30BKV_vI7tIp.xml b/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/NmnqsjHeF9rAhG9A30BKV_vI7tIp.xml
new file mode 100644
index 0000000..75e44a0
--- /dev/null
+++ b/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/NmnqsjHeF9rAhG9A30BKV_vI7tIp.xml
@@ -0,0 +1,2 @@
+
+
\ No newline at end of file
diff --git a/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/ia5FvKngd_-0tJFYAO64kIgybSkp.xml b/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/ia5FvKngd_-0tJFYAO64kIgybSkp.xml
deleted file mode 100644
index fd48245..0000000
--- a/resources/project/NRbCR7m2f1_2pHz6LyHrTz7eFpc/ia5FvKngd_-0tJFYAO64kIgybSkp.xml
+++ /dev/null
@@ -1,2 +0,0 @@
-
-
\ No newline at end of file
diff --git a/test_miSim.m b/test_miSim.m
index 1a5872e..7ca6362 100644
--- a/test_miSim.m
+++ b/test_miSim.m
@@ -2,16 +2,19 @@ classdef test_miSim < matlab.unittest.TestCase
properties (Access = private)
testClass = miSim;
% Domain
- domain = rectangularPrismConstraint;
+ domain = rectangularPrism;
% Obstacles
- constraintGeometries = cell(1, 0);
+ minNumObstacles = 1;
+ maxNumObstacles = 3;
+ obstacles = cell(1, 0);
minObstacleDimension = 1;
% Objective
objective = sensingObjective;
objectiveFunction = @(x, y) 0;
objectiveDiscretizationStep = 0.01;
+ protectedRange = 1;
% Agents
minAgents = 3;
@@ -31,15 +34,20 @@ classdef test_miSim < matlab.unittest.TestCase
methods (TestMethodSetup)
% Generate a random domain
function tc = setDomain(tc)
- % random integer-sized domain within [-10, 10] in all dimensions
+ % random integer-sized domain ranging from [0, 5] to [0, 25] in all dimensions
L = ceil(5 + rand * 10 + rand * 10);
tc.domain = tc.domain.initialize([zeros(1, 3); L * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
end
% Generate a random sensing objective within that domain
function tc = setSensingObjective(tc)
- mu = tc.domain.random();
- sig = [3, 1; 1, 4];
- tc.objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu(1, 1:2), sig);
+ mu = tc.domain.minCorner;
+ while tc.domain.interiorDistance(mu) < tc.protectedRange
+ mu = tc.domain.random();
+ end
+ mu(3) = 0;
+ assert(tc.domain.contains(mu));
+ sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
+ tc.objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu(1:2), sig);
tc.objective = tc.objective.initialize(tc.objectiveFunction, tc.domain.footprint, tc.domain.minCorner(3), tc.objectiveDiscretizationStep);
end
% Instantiate agents, they will be initialized under different
@@ -55,15 +63,14 @@ classdef test_miSim < matlab.unittest.TestCase
methods (Test)
% Test methods
function misim_initialization(tc)
- % randomly create 2-3 constraint geometries
- nGeom = 1 + randi(2);
- tc.constraintGeometries = cell(nGeom, 1);
- for ii = 1:size(tc.constraintGeometries, 1)
- % Instantiate a rectangular prism constraint that spans the
- % domain's height
- tc.constraintGeometries{ii, 1} = rectangularPrismConstraint;
+ % randomly create 2-3 obstacles
+ nGeom = tc.minNumObstacles + randi(tc.maxNumObstacles - tc.minNumObstacles);
+ tc.obstacles = cell(nGeom, 1);
+ for ii = 1:size(tc.obstacles, 1)
+ % Instantiate a rectangular prism obstacle
+ tc.obstacles{ii, 1} = rectangularPrism;
- % Randomly come up with constraint geometries until they
+ % Randomly come up with dimensions until they
% fit within the domain
candidateMinCorner = [-Inf(1, 2), 0];
candidateMaxCorner = Inf(1, 3);
@@ -71,7 +78,8 @@ classdef test_miSim < matlab.unittest.TestCase
% make sure obstacles are not too small in any dimension
tooSmall = true;
while tooSmall
- % make sure the obstacles don't contain the sensing objective
+ % make sure the obstacles don't contain the sensing
+ % objective or encroach on it too much
obstructs = true;
while obstructs
@@ -105,12 +113,13 @@ classdef test_miSim < matlab.unittest.TestCase
candidateMinCorner(isinf(candidateMinCorner)) = tc.domain.minCorner(isinf(candidateMinCorner));
candidateMaxCorner(isinf(candidateMaxCorner)) = tc.domain.maxCorner(isinf(candidateMaxCorner));
- % Initialize constraint geometry
- tc.constraintGeometries{ii} = tc.constraintGeometries{ii}.initialize([candidateMinCorner; candidateMaxCorner], REGION_TYPE.OBSTACLE, sprintf("Column obstacle %d", ii));
+ % Initialize obstacle geometry
+ tc.obstacles{ii} = tc.obstacles{ii}.initialize([candidateMinCorner; candidateMaxCorner], REGION_TYPE.OBSTACLE, sprintf("Column obstacle %d", ii));
end
% Repeat this until a connected set of agent initial conditions
% is found by random chance
+ nIter = 0;
connected = false;
while ~connected
% Randomly place agents in the domain
@@ -127,13 +136,13 @@ classdef test_miSim < matlab.unittest.TestCase
boringInit = false;
end
end
- candidateGeometry = rectangularPrismConstraint;
+ candidateGeometry = rectangularPrism;
tc.agents{ii} = tc.agents{ii}.initialize(candidatePos, zeros(1, 3), eye(3), candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii)), ii, sprintf("Agent %d", ii));
% Check obstacles to confirm that none are violated
- for jj = 1:size(tc.constraintGeometries, 1)
+ for jj = 1:size(tc.obstacles, 1)
inside = false;
- if tc.constraintGeometries{jj, 1}.contains(tc.agents{ii, 1}.pos)
+ if tc.obstacles{jj, 1}.contains(tc.agents{ii, 1}.pos)
% Found a violation, stop checking
inside = true;
break;
@@ -146,7 +155,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Create a collision geometry for this agent
- candidateGeometry = rectangularPrismConstraint;
+ candidateGeometry = rectangularPrism;
candidateGeometry = candidateGeometry.initialize([tc.agents{ii}.pos - 0.1 * ones(1, 3); tc.agents{ii}.pos + 0.1 * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
% Check previously placed agents for collisions
@@ -190,10 +199,11 @@ classdef test_miSim < matlab.unittest.TestCase
% Check connectivity
G = graph(adjacency);
connected = all(conncomp(G) == 1);
+ nIter = nIter + 1;
end
% Initialize the simulation
- tc.testClass = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.constraintGeometries);
+ tc.testClass = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.obstacles);
% Plot domain
f = tc.testClass.domain.plotWireframe;
@@ -203,9 +213,9 @@ classdef test_miSim < matlab.unittest.TestCase
ylim([tc.testClass.domain.minCorner(2) - 0.5, tc.testClass.domain.maxCorner(2) + 0.5]);
zlim([tc.testClass.domain.minCorner(3) - 0.5, tc.testClass.domain.maxCorner(3) + 0.5]);
- % Plot constraint geometries
- for ii = 1:size(tc.testClass.constraintGeometries, 1)
- tc.testClass.constraintGeometries{ii, 1}.plotWireframe(f);
+ % Plot obstacles
+ for ii = 1:size(tc.testClass.obstacles, 1)
+ tc.testClass.obstacles{ii, 1}.plotWireframe(f);
end
% Plot objective gradient
diff --git a/validators/mustBeConstraintGeometries.m b/validators/mustBeConstraintGeometries.m
deleted file mode 100644
index d16301a..0000000
--- a/validators/mustBeConstraintGeometries.m
+++ /dev/null
@@ -1,10 +0,0 @@
-function mustBeConstraintGeometries(constraintGeometry)
- validGeometries = ["rectangularPrismConstraint";];
- if isa(constraintGeometry, 'cell')
- for ii = 1:size(constraintGeometry, 1)
- assert(isa(constraintGeometry{ii}, validGeometries), "Constraint geometry in index %d is not a valid constraint geometry class", ii);
- end
- else
- assert(isa(constraintGeometry, validGeometries), "Constraint geometry is not a valid constraint geometry class");
- end
-end
\ No newline at end of file
diff --git a/validators/mustBeGeometry.m b/validators/mustBeGeometry.m
new file mode 100644
index 0000000..a8242c1
--- /dev/null
+++ b/validators/mustBeGeometry.m
@@ -0,0 +1,10 @@
+function mustBeGeometry(geometry)
+ validGeometries = ["rectangularPrism";];
+ if isa(geometry, 'cell')
+ for ii = 1:size(geometry, 1)
+ assert(isa(geometry{ii}, validGeometries), "Geometry in index %d is not a valid geometry class", ii);
+ end
+ else
+ assert(isa(geometry, validGeometries), "Geometry is not a valid geometry class");
+ end
+end
\ No newline at end of file