kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

implemented partitioning

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

35
test_miSim.m
View File

@@ -4,7 +4,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Domain
domain = rectangularPrism; % domain geometry
maxIter = 1000;
maxIter = 250;
timestep = 0.05
% Obstacles
@@ -358,8 +358,8 @@ classdef test_miSim < matlab.unittest.TestCase
candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii));
% Initialize candidate agent sensor model
sensor = fixedCardinalSensor;
sensor.initialize(tc.sensingLength);
sensor = sigmoidSensor;
sensor = sensor.initialize(1, 1, 1, 1, 1, 1);
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
@@ -415,5 +415,34 @@ classdef test_miSim < matlab.unittest.TestCase
% Run simulation loop
[tc.testClass, f] = tc.testClass.run(f);
end
function test_basic_partitioning(tc)
% place agents a fixed distance +/- X from the domain's center
d = 1;
c = 0.1;
% make basic domain
tc.domain = tc.domain.initialize([zeros(1, 3); 10 * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.objective = tc.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2), eye(2)), tc.domain.footprint, tc.domain.minCorner(3), tc.objectiveDiscretizationStep);
% Initialize agent collision geometry
geometry1 = rectangularPrism;
geometry2 = geometry1;
geometry1 = geometry1.initialize([tc.domain.center + [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize([tc.domain.center - [d, 0, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center - [d, 0, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 2));
% Initialize agent sensor model
sensor = sigmoidSensor;
sensor = sensor.initialize(1, 1, 1, 1, 1, 1);
% Initialize agents
tc.agents = {agent; agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d, 1, sprintf("Agent %d", 1));
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, 2, sprintf("Agent %d", 2));
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter);
end
end
end