CSV parametric testing

test/parametricTestSuite.m

@@ -11,67 +11,70 @@ classdef parametricTestSuite < matlab.unittest.TestCase
         makePlots = true; % disable plotting for big performance increase (also disables video)
         plotCommsGeometry = false; % disable plotting communications geometries
         protectedRange = 0;
+
+        %% Test iterations
+        csvPath = fullfile(matlab.project.rootProject().RootFolder, 'test', 'testIterations.csv');
     end
-    properties (TestParameter)
-        %% Simulation Parameters
-        timestep = num2cell([1]); % duration of one simulation timestep
-        maxIter = num2cell([25]); % number of timesteps to run
 
-        % Domain parameters
-        minAlt = num2cell([1]); % minimum allowed agent altitude, make sure test cases don't conflict with this
+    methods (Static)
+        function params = readIterationsCsv(csvPath)
+            arguments (Input)
+                csvPath (1, 1) string;
+            end
+            arguments (Output)
+                params (1, 1) struct;
+            end
 
-        % Constraint parameters
-        barrierGain = num2cell([100]);
-        barrierExponent = num2cell([3]);
+            % File input validation
+            assert(isfile(csvPath), "%s is not a valid filepath.");
+            assert(endsWith(csvPath, '.csv'), "%s is not a CSV file.");
 
-        % Sensing Objective Parameters
-        sensorPerformanceMinimum = num2cell([1e-6]); % sensor performance threshhold for partition assignment
-        discretizationStep = num2cell([0.01]); % sensing objective discretization step size
-        % this value goes on to determine central differences used in
-        % gradient ascent and partitioning element sizes
-
-        % Agent Parameters
-        collisionRadius = num2cell([0.1]);
-        initialStepSize = num2cell([0.2]); % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
-
-        % Sensor Model Parameters
-        alphaDist = num2cell([2.5, 5]);
-        betaDist = num2cell([3, 15]);
-        alphaTilt = num2cell([15, 30]); % (degrees)methods
-        betaTilt = num2cell([3, 15]);
-
-        % Communications Parameters
-        comRange = num2cell([3]);
+            % Read file
+            csv = readtable(csvPath);
+        
+            % Put params into standard structure
+            params = struct('timestep', csv.timestep, 'maxIter', csv.maxIter, 'minAlt', csv.minAlt, 'discretizationStep', csv.discretizationStep, ...
+                            'sensorPerformanceMinimum', csv.sensorPerformanceMinimum, 'collisionRadius', csv.collisionRadius, 'alphaDist', csv.alphaDist, 'betaDist', csv.betaDist, ...
+                            'alphaTilt', csv.alphaTilt, 'betaTilt', csv.betaTilt, 'comRange', csv.comRange, 'initialStepSize', csv.initialStepSize, 'barrierGain', csv.barrierGain, 'barrierExponent', csv.barrierExponent);
+        end
     end
 
     methods (Test, ParameterCombination = "exhaustive")
         % Test cases
-        function single_agent_gradient_ascent(tc, timestep, maxIter, barrierGain, barrierExponent, minAlt, sensorPerformanceMinimum, discretizationStep, collisionRadius, initialStepSize, alphaDist, betaDist, alphaTilt, betaTilt, comRange)
-            % Set up square domain
+        function single_agent_gradient_ascent(tc)
+            % Read in parameters to iterate over
+            params = tc.readIterationsCsv(tc.csvPath);
+
+            % Test case setup
             l = 10;
-            tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
-            tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, discretizationStep, tc.protectedRange, sensorPerformanceMinimum);
-            
-            % Set up agent
             sensorModel = sigmoidSensor;
-            sensorModel = sensorModel.initialize(alphaDist, betaDist, alphaTilt, betaTilt);
             agentPos = [l/4, l/4, l/4];
             collisionGeometry = spherical;
-            collisionGeometry = collisionGeometry.initialize(agentPos, collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Region");
             agents = {agent};
-            agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, "Agent 1", tc.plotCommsGeometry);
 
-            % Set up simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
-
-            % Save simulation parameters to output file
-            tc.testClass.writeParams();
-
-            % Run
-            tc.testClass = tc.testClass.run();
-
-            % Cleanup
-            tc.testClass.teardown();
+            for ii = 1:size(params.timestep, 1)
+                % Set up square domain
+                tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
+                tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, params.discretizationStep(ii), tc.protectedRange, params.sensorPerformanceMinimum(ii));
+                
+                % Set up agent
+                sensorModel = sensorModel.initialize(params.alphaDist(ii), params.betaDist(ii), params.alphaTilt(ii), params.betaTilt(ii));
+                collisionGeometry = collisionGeometry.initialize(agentPos, params.collisionRadius(ii), REGION_TYPE.COLLISION, "Agent 1 Collision Region");
+                agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, params.comRange(ii), params.maxIter(ii), params.initialStepSize(ii), "Agent 1", tc.plotCommsGeometry);
+    
+                % Set up simulation
+                tc.testClass = tc.testClass.initialize(tc.domain, agents, params.barrierGain(ii), params.barrierExponent(ii), params.minAlt(ii), params.timestep(ii), params.maxIter(ii), tc.obstacles, tc.makePlots, tc.makeVideo);
+    
+                % Save simulation parameters to output file
+                tc.testClass.writeParams();
+    
+                % Run
+                tc.testClass = tc.testClass.run();
+    
+                % Cleanup
+                tc.testClass = tc.testClass.teardown();
+            end
+            
         end
     end
 end