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CSV parametric testing

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This commit is contained in:
Kevin Dee
2026-01-20 23:49:12 -08:00
parent 177c1f2ee4
commit 8b7a756485
5 changed files with 71 additions and 51 deletions
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2
@miSim/miSim.m
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@@ -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);

12
@miSim/teardown.m
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@@ -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

8
@miSim/writeParams.m
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@@ -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, ...
'alphaTilt', alphaTilt, 'betaTilt', betaTilt, 'comRange', comRange);
'sensorPerformanceMinimum', obj.domain.objective.sensorPerformanceMinimum, 'collisionRadius', collisionRadii, 'alphaDist', alphaDist, 'betaDist', betaDist, ...
'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");

97
test/parametricTestSuite.m
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@@ -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

3
test/testIterations.csv Normal file
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@@ -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
1 timestep maxIter minAlt barrierGain barrierExponent sensorPerformanceMinimum discretizationStep collisionRadius initialStepSize alphaDist betaDist alphaTilt betaTilt comRange
2 1 25 1 100 3 1e-6 0.01 0.1 0.2 2.5 3 15 3 3
3 1 25 1 100 3 1e-6 0.01 0.1 0.2 5 15 30 15 3