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full simulation with RF sensors

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kdee committed 2026-05-08 13:07:03 -07:00
1 parent 030dd30c7d
commit 78f9dcd579
12 files changed
+312 -87
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@miSim/writeInits.m
+36 -5
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@@ -13,10 +13,39 @@ function writeInits(obj)
% Collect agent parameters
collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
betaTilt = cellfun(@(x) x.sensorModel.betaTilt, obj.agents);
if isprop(obj.agents{1}.sensorModel, "alphaDist")
% sigmoidSensor parameters
alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
betaTilt = cellfun(@(x) x.sensorModel.betaTilt, obj.agents);
% others to zero
lossExponent = zeros(size(obj.agents));
P_TX = zeros(size(obj.agents));
BW = zeros(size(obj.agents));
f_c = zeros(size(obj.agents));
G_RX_dBi = zeros(size(obj.agents));
beamwidthExponent = zeros(size(obj.agents));
elseif isprop(obj.agents{1}.sensorModel, "P_TX")
% rfSensor parameters
lossExponent = cellfun(@(x) x.sensorModel.lossExponent, obj.agents);
P_TX = cellfun(@(x) x.sensorModel.P_TX, obj.agents);
BW = cellfun(@(x) x.sensorModel.BW, obj.agents);
f_c = cellfun(@(x) x.sensorModel.f_c, obj.agents);
G_RX_dBi = cellfun(@(x) x.sensorModel.G_RX_dBi, obj.agents);
beamwidthExponent = cellfun(@(x) x.sensorModel.beamwidthExponent, obj.agents);
% others to zero
alphaDist = zeros(size(obj.agents));
betaDist = zeros(size(obj.agents));
alphaTilt = zeros(size(obj.agents));
betaTilt = zeros(size(obj.agents));
end
% joint parameters
tilt = cellfun(@(x) x.sensorModel.tilt, obj.agents);
azimuth = cellfun(@(x) x.sensorModel.azimuth, obj.agents);
comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
pos = cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false));
@@ -30,7 +59,9 @@ function writeInits(obj)
"barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", numInputObs, ...
"numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, ...
"useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, "useFixedTopology", obj.useFixedTopology, ...
"alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
"tilt", tilt, "azimuth", azimuth, ... % joint sensor parameters
"alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ... % sigmoid sensor parameters
"lossExponent", lossExponent, "P_TX", P_TX, "BW", BW, "f_c", f_c, "G_RX_dBi", G_RX_dBi, "beamwidthExponent", beamwidthExponent, ... % RF sensor parameters
... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
"pos", pos, "objectivePos", obj.domain.objective.groundPos, "objectiveSigma", obj.domain.objective.objectiveSigma, ...
"domainMin", obj.domain.minCorner, "domainMax", obj.domain.maxCorner, ...