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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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24
test_miSim.m
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@@ -185,10 +185,17 @@ classdef test_miSim < matlab.unittest.TestCase
continue;
end
% Initialize candidate agent
% Initialize candidate agent collision geometry
candidateGeometry = rectangularPrism;
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3),candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii)), @(r) 0.5, tc.sensingLength, tc.comRange, ii, sprintf("Agent %d", ii));
candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
% Initialize candidate agent sensor model
sensor = fixedCardinalSensor;
sensor = sensor.initialize(tc.sensingLength);
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3), candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
% Make sure candidate agent doesn't collide with
% domain
violation = false;
@@ -346,9 +353,16 @@ classdef test_miSim < matlab.unittest.TestCase
continue;
end
% Initialize candidate agent
% Initialize candidate agent collision geometry
candidateGeometry = rectangularPrism;
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3),candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii)), @basicGradientAscent, tc.sensingLength, tc.comRange, ii, sprintf("Agent %d", ii));
candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
% Initialize candidate agent sensor model
sensor = fixedCardinalSensor;
sensor.initialize(tc.sensingLength);
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3), candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
% Make sure candidate agent doesn't collide with
% domain