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

removed options for guidance models other than GA

Browse Source
This commit is contained in:
Kevin Dee
2026-01-01 17:26:15 -08:00
parent 066acd0949
commit 6403e7cbcc
3 changed files with 20 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
@agent/initialize.m
View File

@@ -1,4 +1,4 @@
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, label, debug, plotCommsGeometry)
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, comRange, label, debug, plotCommsGeometry)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'agent')};
pos (1, 3) double;
@@ -7,7 +7,6 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
tilt (1, 1) double;
collisionGeometry (1, 1) {mustBeGeometry};
sensorModel (1, 1) {mustBeSensor};
guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')};
comRange (1, 1) double;
label (1, 1) string = "";
debug (1, 1) logical = false;
@@ -23,7 +22,7 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
obj.tilt = tilt;
obj.collisionGeometry = collisionGeometry;
obj.sensorModel = sensorModel;
obj.guidanceModel = guidanceModel;
obj.guidanceModel = @gradientAscent;
obj.label = label;
obj.debug = debug;
obj.plotCommsGeometry = plotCommsGeometry;

0
guidanceModels/gradientAscent.m → gradientAscent.m
View File

37
test/test_miSim.m
View File

@@ -162,7 +162,7 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange);
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, tc.comRange);
% Make sure candidate agent doesn't collide with
% domain
@@ -296,7 +296,7 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange);
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, tc.comRange);
% Make sure candidate agent doesn't collide with
% domain
@@ -378,14 +378,14 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.agents = {agent; agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, 3*d);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, 3*d);
% Optional third agent along the +Y axis
geometry3 = rectangularPrism;
geometry3 = geometry3.initialize([tc.domain.center + dh - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION);
tc.agents{3} = agent;
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d);
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);
@@ -415,7 +415,7 @@ classdef test_miSim < matlab.unittest.TestCase
% 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, @gradientAscent, 3);
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);
@@ -445,7 +445,7 @@ classdef test_miSim < matlab.unittest.TestCase
% 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, @gradientAscent, 3, "", true);
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);
@@ -481,8 +481,8 @@ 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, @gradientAscent, 3);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3);
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);
% 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);
@@ -516,8 +516,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 10);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 10);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, 10);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, 10);
% Initialize obstacles
obstacleLength = 1;
@@ -557,8 +557,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
commsRadius = 5;
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], zeros(1,3), 0, 0, geometry2, sensor, commsRadius);
% Initialize obstacles
obstacleLength = 1.5;
@@ -605,14 +605,13 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
commsRadius = d;
tc.agents = {agent; agent; agent; agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], zeros(1,3), 0, 0, geometry3, sensor, @gradientAscent, commsRadius);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], zeros(1,3), 0, 0, geometry4, sensor, @gradientAscent, commsRadius);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, @gradientAscent, commsRadius);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry2, sensor, commsRadius);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], zeros(1,3), 0, 0, geometry3, sensor, commsRadius);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], zeros(1,3), 0, 0, geometry4, sensor, commsRadius);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, commsRadius);
% TODO
% make @gradientAscent always the choice
% Build collision geometry initialization into agent initialization?
% Initialize the simulation