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implemented basic gradient ascent

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Kevin D
2025-10-27 21:29:54 -07:00
parent db0ce2d42d
commit ade795b3ae
6 changed files with 91 additions and 14 deletions
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5
test_miSim.m
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@@ -22,6 +22,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Agents
minAgents = 3; % Minimum number of agents to be randomly generated
maxAgents = 9; % Maximum number of agents to be randomly generated
sensingLength = 0.05; % length parameter used by sensing function
agents = cell(0, 1);
% Collision
@@ -186,7 +187,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize candidate agent
candidateGeometry = rectangularPrism;
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3),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)), @(r) 0.5, tc.comRange, ii, sprintf("Agent %d", ii));
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3),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)), @(r) 0.5, tc.sensingLength, tc.comRange, ii, sprintf("Agent %d", ii));
% Make sure candidate agent doesn't collide with
% domain
@@ -375,7 +376,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize candidate agent
candidateGeometry = rectangularPrism;
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3),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)), @(r) 0.5, tc.comRange, ii, sprintf("Agent %d", ii));
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3),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)), @basicGradientAscent, tc.sensingLength, tc.comRange, ii, sprintf("Agent %d", ii));
% Make sure candidate agent doesn't collide with
% domain