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no more rectangular collision geoms

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This commit is contained in:
Kevin Dee
2026-03-31 22:19:53 -07:00
parent 8da65278a2
commit 60475162e4
1 changed files with 4 additions and 4 deletions
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test/test_miSim.m
+4 -4
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@@ -166,8 +166,8 @@ classdef test_miSim < matlab.unittest.TestCase
end end
% Initialize candidate agent collision geometry % Initialize candidate agent collision geometry
candidateGeometry = rectangularPrism; candidateGeometry = spherical;
candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION); candidateGeometry = candidateGeometry.initialize(candidatePos, tc.collisionRanges(ii), REGION_TYPE.COLLISION);
% Initialize candidate agent sensor model % 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)); 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 % Initialize agent collision geometry
tc.agents = {agent}; tc.agents = {agent};
geometry1 = rectangularPrism; geometry1 = spherical;
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 = 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 % Initialize agent sensor model with fixed parameters
tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 20, 3); tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 20, 3);