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

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Kevin Dee
2026-01-28 00:21:24 -08:00
parent fea1b1686d
commit af50695610
1 changed files with 7 additions and 2 deletions
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9
test/parametricTestSuite.m
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@@ -80,7 +80,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Place first agent randomly in the quadrant opposite the objective % Place first agent randomly in the quadrant opposite the objective
% not too close to the domain boundaries % 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); agentPos = bounds(1, :) + (bounds(2, :) - bounds(1, :)) .* rand(1, 3);
% Keep trying new positions until the greatest possible % Keep trying new positions until the greatest possible
@@ -106,9 +106,14 @@ classdef parametricTestSuite < matlab.unittest.TestCase
agentPos = agents{baseAgentIdx}.commsGeometry.random(); agentPos = agents{baseAgentIdx}.commsGeometry.random();
retry = false; 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 % Check that the agent's greatest sensor
% performance clears the threshold for partitioning % 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; retry = true;
end end