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gradient ascent works now?

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This commit is contained in:
Kevin Dee
2025-11-30 19:08:15 -08:00
parent 4e0f213d0c
commit 7c87458b66
3 changed files with 91 additions and 24 deletions
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test/test_miSim.m
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@@ -418,7 +418,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2) + rand(1, 2) * 6 - 3), tc.domain, tc.discretizationStep, tc.protectedRange);
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2)), tc.domain, tc.discretizationStep, tc.protectedRange);
% Initialize agent collision geometry
geometry1 = rectangularPrism;