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fixed minimum agent altitude initial condition

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Kevin Dee
2025-12-23 12:13:15 -08:00
parent 1fa76c7023
commit 6632c9885d
1 changed files with 5 additions and 5 deletions
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10
test/test_miSim.m
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@@ -14,7 +14,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Domain % Domain
domain = rectangularPrism; % domain geometry domain = rectangularPrism; % domain geometry
minDimension = 10; minDimension = 10;
minAlt = 2; % minimum allowed agent altitude minAlt = 1; % minimum allowed agent altitude
% Obstacles % Obstacles
minNumObstacles = 1; % Minimum number of obstacles to be randomly generated minNumObstacles = 1; % Minimum number of obstacles to be randomly generated
@@ -109,11 +109,11 @@ classdef test_miSim < matlab.unittest.TestCase
if ii == 1 if ii == 1
while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2) while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2)
candidatePos = tc.domain.random(); candidatePos = tc.domain.random();
candidatePos(3) = 1 + rand * 3; % place agents at decent altitudes for sensing candidatePos(3) = tc.minAlt + rand * 3; % place agents at decent altitudes for sensing
end end
else else
candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2)); candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));
candidatePos(3) = 1 + rand * 3; % place agents at decent altitudes for sensing candidatePos(3) = tc.minAlt + rand * 3; % place agents at decent altitudes for sensing
end end
% Make sure that the candidate position is within the % Make sure that the candidate position is within the
@@ -241,11 +241,11 @@ classdef test_miSim < matlab.unittest.TestCase
if ii == 1 if ii == 1
while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2) while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2)
candidatePos = tc.domain.random(); candidatePos = tc.domain.random();
candidatePos(3) = min([tc.domain.maxCorner(3) * 0.95, 0.5 + rand * (tc.alphaDistMax * (1.1) - 0.5)]); % place agents at decent altitudes for sensing candidatePos(3) = min([tc.domain.maxCorner(3) * 0.95, tc.minAlt + rand * (tc.alphaDistMax * (1.1) - 0.5)]); % place agents at decent altitudes for sensing
end end
else else
candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2)); candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));
candidatePos(3) = min([tc.domain.maxCorner(3) * 0.95, 0.5 + rand * (tc.alphaDistMax * (1.1) - 0.5)]); % place agents at decent altitudes for sensing candidatePos(3) = min([tc.domain.maxCorner(3) * 0.95, tc.minAlt + rand * (tc.alphaDistMax * (1.1) - 0.5)]); % place agents at decent altitudes for sensing
end end
% Make sure that the candidate position is within the % Make sure that the candidate position is within the