fixed issues in sigmoid sensor model causing inverted response (annular partitions)

sensorModels/@sigmoidSensor/sensorPerformance.m

@@ -0,0 +1,22 @@
+function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
+        agentPos (1, 3) double;
+        agentPan (1, 1) double;
+        agentTilt (1, 1) double;
+        targetPos (:, 3) double;
+    end
+    arguments (Output)
+        value (:, 1) double;
+    end
+
+    d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target
+    x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2); % distance from sensor nadir to target nadir (i.e. distance ignoring height difference)
+    tiltAngle = (180 - atan2d(x, targetPos(:, 3) - agentPos(3))) - agentTilt; % degrees
+
+    % Membership functions
+    mu_d = obj.distanceMembership(d);
+    mu_t = obj.tiltMembership(tiltAngle);
+
+    value = mu_d .* mu_t; % assume pan membership is always 1
+end