CSV parametric testing

@miSim/miSim.m

@@ -67,8 +67,8 @@ classdef miSim
         [obj] = plotTrails(obj);
         [obj] = plotH(obj);
         [obj] = updatePlots(obj);
+        [obj] = teardown(obj);
         validate(obj);
-        teardown(obj);
     end
     methods (Access = private)
         [v] = setupVideoWriter(obj);

@miSim/teardown.m

@@ -1,8 +1,9 @@
-function teardown(obj)
+function obj = teardown(obj)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
     arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
     end
 
     % Close plots
@@ -10,4 +11,13 @@ function teardown(obj)
     close(obj.fPerf);
     close(obj.f);
 
+    % Reset accumulators
+    obj.performance = 0;
+
+    % Reset agents
+    for ii = 1:size(obj.agents, 1)
+        obj.agents{ii} = agent;
+    end
+
+
 end

@miSim/writeParams.m

@@ -12,11 +12,15 @@ function writeParams(obj)
     alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
     betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
     comRange = cellfun(@(x) x.commsGeometry.radius, obj.agents);
+    initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
 
     % Combine with simulation parameters
     params = struct('timestep', obj.timestep, 'maxIter', obj.maxIter, 'minAlt', obj.obstacles{end}.maxCorner(3), 'discretizationStep', obj.domain.objective.discretizationStep, ...
-                    'collisionRadius', collisionRadii, 'alphaDist', alphaDist, 'betaDist', betaDist, ...
+                    'sensorPerformanceMinimum', obj.domain.objective.sensorPerformanceMinimum, 'collisionRadius', collisionRadii, 'alphaDist', alphaDist, 'betaDist', betaDist, ...
-                    'alphaTilt', alphaTilt, 'betaTilt', betaTilt, 'comRange', comRange);
+                    'alphaTilt', alphaTilt, 'betaTilt', betaTilt, 'comRange', comRange, 'initialStepSize', initialStepSize, 'barrierGain', obj.barrierGain, 'barrierExponent', obj.barrierExponent ...
+                    );
+
+    % TODO add sensorPerformanceMinimum
 
     % Save all parameters to output file
     paramsFile = strcat(obj.artifactName, "_miSimParams");

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
+    methods (Static)
-        minAlt = num2cell([1]); % minimum allowed agent altitude, make sure test cases don't conflict with this
+        function params = readIterationsCsv(csvPath)
+            arguments (Input)
+                csvPath (1, 1) string;
+            end
+            arguments (Output)
+                params (1, 1) struct;
+            end
 
-        % Constraint parameters
+            % File input validation
-        barrierGain = num2cell([100]);
+            assert(isfile(csvPath), "%s is not a valid filepath.");
-        barrierExponent = num2cell([3]);
+            assert(endsWith(csvPath, '.csv'), "%s is not a CSV file.");
 
-        % Sensing Objective Parameters
+            % Read file
-        sensorPerformanceMinimum = num2cell([1e-6]); % sensor performance threshhold for partition assignment
+            csv = readtable(csvPath);
-        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
+            % Put params into standard structure
-        collisionRadius = num2cell([0.1]);
+            params = struct('timestep', csv.timestep, 'maxIter', csv.maxIter, 'minAlt', csv.minAlt, 'discretizationStep', csv.discretizationStep, ...
-        initialStepSize = num2cell([0.2]); % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
+                            '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);
-        % Sensor Model Parameters
+        end
-        alphaDist = num2cell([2.5, 5]);
-        betaDist = num2cell([3, 15]);
-        alphaTilt = num2cell([15, 30]); % (degrees)methods
-        betaTilt = num2cell([3, 15]);
-
-        % Communications Parameters
-        comRange = num2cell([3]);
     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)
+        function single_agent_gradient_ascent(tc)
-            % Set up square domain
+            % Read in parameters to iterate over
-            l = 10;
+            params = tc.readIterationsCsv(tc.csvPath);
-            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
+            % Test case setup
+            l = 10;
             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
+            for ii = 1:size(params.timestep, 1)
-            tc.testClass = tc.testClass.initialize(tc.domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
+                % 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));
                 
-            % Save simulation parameters to output file
+                % Set up agent
-            tc.testClass.writeParams();
+                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);
     
-            % Run
+                % Set up simulation
-            tc.testClass = tc.testClass.run();
+                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
             
-            % Cleanup
-            tc.testClass.teardown();
         end
     end
 end

test/testIterations.csv

@@ -0,0 +1,3 @@
+timestep, maxIter, minAlt, barrierGain, barrierExponent, sensorPerformanceMinimum, discretizationStep, collisionRadius, initialStepSize, alphaDist, betaDist, alphaTilt, betaTilt, comRange
+1, 25, 1, 100, 3, 1e-6, 0.01, 0.1, 0.2, 2.5, 3, 15, 3, 3
+1, 25, 1, 100, 3, 1e-6, 0.01, 0.1, 0.2, 5, 15, 30, 15, 3