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

full simulation with RF sensors

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
@agent/run.m
+34 -2
View File
@@ -1,4 +1,4 @@
function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleIntegrator, dampingCoeff, dt, optimizeSensorPointing)
function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleIntegrator, dampingCoeff, dt, optimizeSensorPointing, otherAgents)
arguments (Input)
obj (1, 1) {mustBeA(obj, "agent")};
domain (1, 1) {mustBeGeometry};
@@ -9,6 +9,7 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleInt
dampingCoeff (1, 1) double = 2.0;
dt (1, 1) double = 1.0;
optimizeSensorPointing (1, 1) logical = false;
otherAgents (:, 1) cell = cell();
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "agent")};
@@ -33,6 +34,26 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleInt
maskedX = domain.objective.X(partitionMask);
maskedY = domain.objective.Y(partitionMask);
if isa(obj.sensorModel, "rfSensor")
% Extract other agents' sensor models and positions once, outside the delta loop.
% Mask the full-grid RSS caches (filled by partition()) down to this agent's
% partition subset so sensorPerformance can reuse them for all perturbations.
otherSensorsPos = cell2mat(cellfun(@(x) x.pos, otherAgents, "UniformOutput", false));
otherSensors = cellfun(@(x) x.sensorModel, otherAgents, "UniformOutput", false);
partitionIndices = find(partitionMask);
for kk = 1:numel(otherSensors)
if ~isempty(otherSensors{kk}.rssCache)
otherSensors{kk}.rssCache = otherSensors{kk}.rssCache(partitionIndices);
end
end
% Pre-mask this agent's own full-grid cache to the partition subset.
% Used for ii==1 (current position, no perturbation) to avoid recomputing.
baseSensorModel = obj.sensorModel;
if ~isempty(obj.sensorModel.rssCache)
baseSensorModel.rssCache = obj.sensorModel.rssCache(partitionIndices);
end
end
if optimizeSensorPointing
% Stash actual current sensor model tilt/azimuth before messing with it
% in these following hypotheticals
@@ -58,7 +79,18 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, useDoubleInt
end
% Compute performance values on partition
sensorValues = obj.sensorModel.sensorPerformance(pos, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n) on W_n
if isa(obj.sensorModel, "sigmoidSensor")
sensorValues = obj.sensorModel.sensorPerformance(pos, [maskedX, maskedY, zeros(size(maskedX))]); % S_n(omega, P_n) on W_n
elseif isa(obj.sensorModel, "rfSensor")
if ii == 1
sensorModelForDelta = baseSensorModel; % reuse partition-step cache; no recompute needed
else
sensorModelForDelta = obj.sensorModel.clearRssCache;
end
[sensorValues, ~, ~, ~] = sensorModelForDelta.sensorPerformance(pos, [maskedX, maskedY, zeros(size(maskedX))], otherSensorsPos, otherSensors);
else
error("?");
end
% Rearrange data into image arrays
F = NaN(size(partitionMask));