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implemented partitioning

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This commit is contained in:
Kevin D
2025-11-11 12:50:43 -08:00
parent 74088a13f3
commit 9e948072e8
8 changed files with 295 additions and 74 deletions
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15
sensingModels/fixedCardinalSensor.m
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@@ -56,5 +56,20 @@ classdef fixedCardinalSensor
% Prevent out of bounds locations from ever possibly being selected
neighborValues(outOfBounds) = 0;
end
function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')};
agentPos (1, 3) double;
agentPan (1, 1) double;
agentTilt (1, 1) double;
targetPos (:, 3) double;
end
arguments (Output)
value (:, 1) double;
end
value = 0.5 * ones(size(targetPos, 1), 1);
end
end
end

82
sensingModels/sigmoidSensor.m
View File

@@ -1,16 +1,72 @@
function accuracy = sigmoid(sensorPos, targetPos)
arguments (Input)
sensorPos (1, 3) double;
targetPos (:, 3) double;
classdef sigmoidSensor
properties (SetAccess = private, GetAccess = public)
% Sensor parameters
alphaDist;
betaDist;
alphaPan;
betaPan;
alphaTilt;
betaTilt;
end
arguments (Output)
accuracy (:, 3) double;
methods (Access = public)
function obj = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}
alphaDist (1, 1) double;
betaDist (1, 1) double;
alphaPan (1, 1) double;
betaPan (1, 1) double;
alphaTilt (1, 1) double;
betaTilt (1, 1) double;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}
end
obj.alphaDist = alphaDist;
obj.betaDist = betaDist;
obj.alphaPan = alphaPan;
obj.betaPan = betaPan;
obj.alphaTilt = alphaTilt;
obj.betaTilt = betaTilt;
end
function [neighborValues, neighborPos] = sense(obj, objectiveFunction, domain, pos)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
domain (1, 1) {mustBeGeometry};
pos (1, 3) double;
end
arguments (Output)
neighborValues (4, 1) double;
neighborPos (4, 3) double;
end
end
function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
agentPos (1, 3) double;
agentPan (1, 1) double;
agentTilt (1, 1) double;
targetPos (:, 3) double;
end
arguments (Output)
value (:, 1) double;
end
d = vecnorm(agentPos - targetPos, 2, 2);
panAngle = atan2(targetPos(:, 2) - agentPos(2), targetPos(:, 1) - agentPos(1)) - agentPan;
tiltAngle = atan2(targetPos(:, 3) - agentPos(3), d) - agentTilt;
% Membership functions
mu_d = 1 - (1 ./ (1 + exp(-obj.betaDist .* (d - obj.alphaDist)))); % distance
mu_p = (1 ./ (1 + exp(-obj.betaPan .* (panAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (panAngle - obj.alphaPan)))); % pan
mu_t = (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle - obj.alphaPan)))); % tilt
value = mu_d .* mu_p .* mu_t;
end
end
end
function distanceMembership()
end