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

fixed initial agent placement altitude not respecting minimum altitude constraint when collision radius is taken into account

Browse Source
This commit is contained in:
Kevin Dee
2026-01-28 00:21:24 -08:00
parent fea1b1686d
commit af50695610
1 changed files with 7 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
test/parametricTestSuite.m
View File

@@ -80,7 +80,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Place first agent randomly in the quadrant opposite the objective
% not too close to the domain boundaries
bounds = [params.collisionRadius(ii, 1) * ones(1, 2), max([params.collisionRadius(ii, 1), params.minAlt(ii)]); l / 2 * ones(1, 2), l - params.collisionRadius(ii, 1)];
bounds = [params.collisionRadius(ii, 1) * ones(1, 2), params.collisionRadius(ii, 1) + params.minAlt(ii); l / 2 * ones(1, 2), l - params.collisionRadius(ii, 1)];
agentPos = bounds(1, :) + (bounds(2, :) - bounds(1, :)) .* rand(1, 3);
% Keep trying new positions until the greatest possible
@@ -106,9 +106,14 @@ classdef parametricTestSuite < matlab.unittest.TestCase
agentPos = agents{baseAgentIdx}.commsGeometry.random();
retry = false;
% Check that altitude clears minimum
if agentPos(3) <= params.minAlt(ii) + params.collisionRadius(ii, jj)
retry = true;
end
% Check that the agent's greatest sensor
% performance clears the threshold for partitioning
if sensorModel.sensorPerformance(agentPos, [agentPos(1:2), 0]) < params.sensorPerformanceMinimum(ii)
if ~retry && sensorModel.sensorPerformance(agentPos, [agentPos(1:2), 0]) < params.sensorPerformanceMinimum(ii)
retry = true;
end