diff --git a/@rfSensor/RSS.m b/@rfSensor/RSS.m
index db0fcaf..605e287 100644
--- a/@rfSensor/RSS.m
+++ b/@rfSensor/RSS.m
@@ -7,10 +7,8 @@ function value = RSS(obj, d, t)
     arguments (Output)
         value (:, 1) double
     end
-    
-    rho_dBm = 10*log10(obj.P_TX/1e-3);
-
-    % RSS = TX Power + Antenna Gain - Path Loss
-    value = rho_dBm + obj.antennaGain(t) - obj.pathLoss(d);
+    assert(size(d, 1) == size(t, 1), "Mismatch in number of distances (%d) and tilts (%d) provided", size(d, 1), size(t, 1));
 
+    % RSS (dBm) = TX Power (dBm) + Antenna Gain (dB) - Path Loss (dB)
+    value = obj.P_TX_dBm + obj.antennaGain(t) - obj.pathLoss(d);
 end
\ No newline at end of file
diff --git a/@rfSensor/computePointToPoints.m b/@rfSensor/computePointToPoints.m
new file mode 100644
index 0000000..1a4e46e
--- /dev/null
+++ b/@rfSensor/computePointToPoints.m
@@ -0,0 +1,21 @@
+function [d, t] = computePointToPoints(obj, agentPos, targetPos)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, "rfSensor")};
+        agentPos (1, 3) double;
+        targetPos (:, 3) double;
+    end
+    arguments (Output)
+        d (:, 1) double;
+        t (:, 1) double;
+    end
+
+    % distance from sensor to target
+    d = vecnorm(agentPos - targetPos, 2, 2);
+
+    % distance from sensor nadir to target nadir (i.e. distance ignoring altitude)
+    x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2);
+    
+    % tilt angle (degrees)
+    t = (180 - atan2d(x, targetPos(:, 3) - agentPos(3)));
+
+end
\ No newline at end of file
diff --git a/@rfSensor/initialize.m b/@rfSensor/initialize.m
index 20c3f87..be8dda6 100644
--- a/@rfSensor/initialize.m
+++ b/@rfSensor/initialize.m
@@ -9,8 +9,12 @@ function obj = initialize(obj, txPower, bandwidth, centerFreq)
         obj (1, 1) {mustBeA(obj, "rfSensor")}
     end
 
-    obj.P_TX = txPower;
-    obj.BW = bandwidth;
-    obj.f_c = centerFreq;
-    
+    % Provided values
+    obj.P_TX = txPower; % Transmit power (W)
+    obj.BW = bandwidth; % Bandwidth (Hz)
+    obj.f_c = centerFreq; % Center frequency (Hz)
+
+    % Computed values
+    obj.P_TX_dBm = 10*log10(obj.P_TX/1e-3); % Transmit power in dBm
+    obj.N = obj.k_B * obj.T_0 * obj.BW; % Thermal noise
 end
\ No newline at end of file
diff --git a/@rfSensor/pathLoss.m b/@rfSensor/pathLoss.m
index 69f51d9..08198d0 100644
--- a/@rfSensor/pathLoss.m
+++ b/@rfSensor/pathLoss.m
@@ -7,6 +7,7 @@ function L_FSPL_dB = pathLoss(obj, d)
         L_FSPL_dB (:, 1) double
     end
 
+    % Free Space Path Loss (dB)
     L_FSPL_dB = 20*log10(d) + 20*log10(obj.f_c) + 20*log10((4*pi)/obj.c);
 
 end
diff --git a/@rfSensor/plotParameters.m b/@rfSensor/plotParameters.m
index 1a39138..3d008a4 100644
--- a/@rfSensor/plotParameters.m
+++ b/@rfSensor/plotParameters.m
@@ -9,17 +9,13 @@ function f = plotParameters(obj)
     % Distance and tilt sample points
     d = [0.01, 0.1, 0.25, 0.5, 0.75, 1:1:100];
     t  = zeros(size(d));
-    t = -90:1:90;
 
     % Sample RSS function by distances, tilts
     r_x = obj.RSS(d', t');
 
     % Sample SINR (SNR) function by distances, tilts
     % using SINR method with no other transmitters defined is equivalent to SNR
-    s_x = NaN(size(r_x));
-    for ii = 1:size(s_x, 1)
-        s_x(ii) = obj.sensorPerformance([0, 0, d(ii)], zeros(1, 3)); % don't define other sensors
-    end
+    s_x = obj.sensorPerformance(d, t); % don't define other sensors
 
     % Plot resultant sigmoid curves
     f = figure;
diff --git a/@rfSensor/rfSensor.m b/@rfSensor/rfSensor.m
index 9759fd0..9d56285 100644
--- a/@rfSensor/rfSensor.m
+++ b/@rfSensor/rfSensor.m
@@ -8,12 +8,16 @@ classdef rfSensor
         P_TX = NaN; % Transmit power (Watts)
         BW = NaN; % Bandwidth (Hz)
         f_c = NaN; % Center frequency (Hz)
+        % Values computed at initialization
+        P_TX_dBm = NaN; % Transmit power (dBm)
+        N = NaN; % Thermal noise
     end
 
     methods (Access = public)
         [obj] = initialize(obj, txPower, bandwidth, centerFreq); % TODO initialize sensor, define parameters
         [SINR] = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos); % determine sensor performance for a given single sensor and target geometry
         [f] = plotParameters(obj); % debug, plot sensor response as a function of distance and tilt angle
+        [d, t] = computePointToPoints(obj, agentPos, targetPos);
     end
     methods (Access = private)
         x = RSS(obj, d, t); % Received signal strength (function of distance and tilt angle)
diff --git a/@rfSensor/sensorPerformance.m b/@rfSensor/sensorPerformance.m
index c88d7d5..be6d329 100644
--- a/@rfSensor/sensorPerformance.m
+++ b/@rfSensor/sensorPerformance.m
@@ -1,36 +1,26 @@
-function SINR = sensorPerformance(obj, agentPos, targetPos, otherSensors, otherSensorsPos)
+function SINR = sensorPerformance(obj, d, t, d_other, t_other, otherSensors)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, "rfSensor")};
-        agentPos (1, 3) double;
-        targetPos (1, 3) double;
-        otherSensors (:, 1) cell = {};
-        otherSensorsPos (:, 3) double = NaN(0, 3);
+        d (:, 1) double;
+        t(:, 1) double;
+        d_other (:, :) double = [];
+        t_other (:, :) double = [];
+        otherSensors (1, :) cell = {};
     end
     arguments (Output)
         SINR (:, 1) double;
     end
-    assert(size(otherSensors, 1) == size(otherSensorsPos, 1), "Mismatch in length of other sensors (%d) and their positions (%d)", size(otherSensors, 1), size(otherSensorsPos, 1));
-
-    d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target
-    d_other = NaN(size(otherSensors));
-
-    x = vecnorm(agentPos(1:2) - targetPos(1, 1:2), 2, 2); % distance from sensor nadir to target nadir (i.e. distance ignoring height difference)
-    x_other = NaN(size(otherSensors));
-
-    t = (180 - atan2d(x, targetPos(1, 3) - agentPos(3))); % degrees
-    t_other = NaN(size(otherSensors));
+    assert(size(d, 1) == size(t, 1), "Mismatch in number of distance (%d) and angle (%d) pairs provided", size(d, 1), size(t, 1));
+    assert(size(d_other, 1) == size(t_other, 1), "Mismatch in number of distances (%d) and tilts (%d) provided to other sensors", size(t, 1), size(t_other, 1));
+    assert(size(d_other, 2) == size(t_other, 2), "Mismatch in number of other sensors given distances (%d) and tilts (%d)", size(d_other, 1), size(t_other, 1));
+    assert(size(otherSensors, 2) == size(d_other, 2), "Mismatch in number of distances from other sensors (%d) and number of other sensors (%d) provided", size(d_other, 2), size(otherSensors, 2));
 
     % Performance is measured as SINR for this sensor
-    S = 10^(0.1 * obj.RSS(d, t)); % Signal
-    N = obj.k_B * obj.T_0 * obj.BW; % Thermal noise
-    I = 0; % Interference from other agents
-    for ii = 1:size(otherSensors, 1)
-        d_other(ii, 1) = vecnorm(otherSensorsPos(ii, 1:3) - targetPos, 2, 2);
-
-        x_other(ii, 1) = vecnorm(otherSensorsPos(ii, 3) - targetPos(1, 1:2), 2, 2);
-        t_other(ii, 1) = (180 - atan2d(x_other(ii, 1), targetPos(1, 3) - otherSensorsPos(ii, 3)));
-        
-        I = I + 10 ^ (0.1 * otherSensors.RSS(otherSensors{ii}, d_other(ii), t_other(ii)));
+    S = 10 .^ (0.1 * obj.RSS(d, t)); % Signal
+    I = zeros(size(d)); % Interference from other agents
+    for ii = 1:size(otherSensors, 2)
+        I = I + 10 .^ (0.1 * otherSensors{ii}.RSS(d_other(:, ii), t_other(:, ii)));
     end
-    SINR = 10*log10(S/(I + N));
+
+    SINR = 10*log10(S ./ (I + obj.N));
 end
\ No newline at end of file
diff --git a/test/test_rfSensor.m b/test/test_rfSensor.m
index c6495a1..621002e 100644
--- a/test/test_rfSensor.m
+++ b/test/test_rfSensor.m
@@ -29,7 +29,6 @@ classdef test_rfSensor < matlab.unittest.TestCase
             f_c = 2e9; % Center frequency (Hz)
 
             tc.testClass = tc.testClass.initialize(P_TX, BW, f_c);
-
-            
+        end
     end
 end
\ No newline at end of file