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refactored agent sensing and guidance

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This commit is contained in:
Kevin D
2025-11-09 22:17:21 -08:00
parent c7510812cb
commit 8b14bfc5ce
35 changed files with 224 additions and 76 deletions
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22
agent.m
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@@ -5,9 +5,12 @@ classdef agent
label = "";
% Sensor
sensingFunction = @(r) 0.5; % probability of detection as a function of range
sensorModel;
sensingLength = 0.05; % length parameter used by sensing function
% Guidance
guidanceModel;
% State
lastPos = NaN(1, 3); % position from previous timestep
pos = NaN(1, 3); % current position
@@ -25,15 +28,15 @@ classdef agent
end
methods (Access = public)
function obj = initialize(obj, pos, vel, cBfromC, collisionGeometry, sensingFunction, sensingLength, comRange, index, label)
function obj = initialize(obj, pos, vel, cBfromC, collisionGeometry, sensorModel, guidanceModel, comRange, index, label)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'agent')};
pos (1, 3) double;
vel (1, 3) double;
cBfromC (3, 3) double {mustBeDcm};
collisionGeometry (1, 1) {mustBeGeometry};
sensingFunction (1, 1) {mustBeA(sensingFunction, 'function_handle')} = @(r) 0.5;
sensingLength (1, 1) double = NaN;
sensorModel (1, 1) {mustBeSensor}
guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')};
comRange (1, 1) double = NaN;
index (1, 1) double = NaN;
label (1, 1) string = "";
@@ -46,8 +49,8 @@ classdef agent
obj.vel = vel;
obj.cBfromC = cBfromC;
obj.collisionGeometry = collisionGeometry;
obj.sensingFunction = sensingFunction;
obj.sensingLength = sensingLength;
obj.sensorModel = sensorModel;
obj.guidanceModel = guidanceModel;
obj.comRange = comRange;
obj.index = index;
obj.label = label;
@@ -62,8 +65,11 @@ classdef agent
obj (1, 1) {mustBeA(obj, 'agent')};
end
% Do sensing to determine target position
nextPos = obj.sensingFunction(objectiveFunction, domain, obj.pos, obj.sensingLength);
% Do sensing
[sensedValues, sensedPositions] = obj.sensorModel.sense(objectiveFunction, domain, obj.pos);
% Determine next planned position
nextPos = obj.guidanceModel(sensedValues, sensedPositions, obj.pos);
% Move to next position
% (dynamics not modeled at this time)