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full simulation with RF sensors

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This commit is contained in:
Kevin Dee
2026-05-08 13:07:03 -07:00
parent 030dd30c7d
commit 78f9dcd579
12 changed files with 312 additions and 87 deletions
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@agent/partition.m
+18 -3
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@@ -1,4 +1,4 @@
function [partitioning] = partition(obj, agents, objective)
function [partitioning, agents] = partition(obj, agents, objective)
arguments (Input)
obj (1, 1) {mustBeA(obj, "agent")};
agents (:, 1) {mustBeA(agents, "cell")};
@@ -6,6 +6,7 @@ function [partitioning] = partition(obj, agents, objective)
end
arguments (Output)
partitioning (:, :) double;
agents (:, 1) cell;
end
nAgents = size(agents, 1);
@@ -18,8 +19,22 @@ function [partitioning] = partition(obj, agents, objective)
% minimum threshold that must be exceeded for any assignment.
agentPerf = zeros(nPoints, nAgents + 1);
for aa = 1:nAgents
p = agents{aa}.sensorModel.sensorPerformance(agents{aa}.pos, ...
[objective.X(:), objective.Y(:), zeros(nPoints, 1)]);
if isa(agents{aa}.sensorModel, "sigmoidSensor")
p = agents{aa}.sensorModel.sensorPerformance(agents{aa}.pos, ...
[objective.X(:), objective.Y(:), zeros(nPoints, 1)]);
elseif isa(agents{aa}.sensorModel, "rfSensor")
otherSensorsIdx = [1:(aa - 1), (aa + 1):size(agents, 1)];
otherSensors = agents(otherSensorsIdx);
otherSensorsPos = cell2mat(cellfun(@(x) x.pos, otherSensors, "UniformOutput", false));
otherSensors = cellfun(@(x) x.sensorModel, otherSensors, "UniformOutput", false);
[p, ~, agents{aa}.sensorModel, otherSensors] = agents{aa}.sensorModel.sensorPerformance(agents{aa}.pos, ...
[objective.X(:), objective.Y(:), zeros(nPoints, 1)], otherSensorsPos, otherSensors);
for k = 1:numel(otherSensorsIdx)
agents{otherSensorsIdx(k)}.sensorModel = otherSensors{k};
end
else
error("?");
end
agentPerf(:, aa) = p(:);
end
agentPerf(:, nAgents + 1) = objective.sensorPerformanceMinimum;