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added support for 2 objectives in analysis script

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kdee committed 2026-05-28 17:50:12 -07:00
1 parent 283266c2a8
commit 8e8bb39cd9
2 files changed
+16 -4
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aerpaw/results/resultsAnalysis.m
+9 -2
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@@ -1,5 +1,5 @@
%% Plot AERPAW logs (trajectory, radio)
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_around_wall"); % Define path to results copied from AERPAW platform
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "columns_simulated"); % Define path to results copied from AERPAW platform
% Check timeline in controller logs
controller = controllerAnalysis(resultsPath);
@@ -25,7 +25,14 @@ makeVideo = true;
% Define scenario according to CSV specification
domain = rectangularPrism;
domain = domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
domain.objective = domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, reshape(params.objectiveVar, [1, 2 2])), domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
if length(params.objectiveVar) > 4 && length(params.objectivePos) > 2
objectiveSigma = permute(reshape(params.objectiveVar, [length(params.objectiveVar)/4 2 2]), [3 1 2]);
objectivePos = reshape(params.objectivePos, [length(params.objectivePos)/2, 2])';
else
objectiveSigma = reshape(params.objectiveVar, [1, 2, 2]);
objectivePos = params.objectivePos;
end
domain.objective = domain.objective.initialize(objectiveFunctionWrapper(objectivePos, objectiveSigma), domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
agents = cell(size(params.initialPositions, 2) / 3, 1);
for ii = 1:size(agents, 1)