From 60475162e4e510b67dca9351d1381f4ce4b7a0fa Mon Sep 17 00:00:00 2001 From: Kevin D Date: Tue, 31 Mar 2026 22:19:53 -0700 Subject: [PATCH] no more rectangular collision geoms --- test/test_miSim.m | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/test/test_miSim.m b/test/test_miSim.m index 658ac22..4f474a2 100644 --- a/test/test_miSim.m +++ b/test/test_miSim.m @@ -166,8 +166,8 @@ classdef test_miSim < matlab.unittest.TestCase end % Initialize candidate agent collision geometry - candidateGeometry = rectangularPrism; - candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION); + candidateGeometry = spherical; + candidateGeometry = candidateGeometry.initialize(candidatePos, tc.collisionRanges(ii), REGION_TYPE.COLLISION); % Initialize candidate agent sensor model tc.sensor = tc.sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin)); @@ -441,8 +441,8 @@ classdef test_miSim < matlab.unittest.TestCase % Initialize agent collision geometry tc.agents = {agent}; - geometry1 = rectangularPrism; - geometry1 = geometry1.initialize([[tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3] - tc.collisionRanges(1) * ones(1, 3); [tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION); + geometry1 = spherical; + geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION); % Initialize agent sensor model with fixed parameters tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 20, 3);