refactored sensing objective into domain, random inits

@sensingObjective/initializeRandomMvnpdf.m

@@ -0,0 +1,27 @@
+function obj = initializeRandomMvnpdf(obj, domain, protectedRange, discretizationStep)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'sensingObjective')};
+        domain (1, 1) {mustBeGeometry};
+        protectedRange (1, 1) double = 1;
+        discretizationStep (1, 1) double = 1;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'sensingObjective')};
+    end
+
+    % Set random objective position
+    mu = domain.minCorner;
+    while domain.distance(mu) < protectedRange
+        mu = domain.random();
+    end
+    mu = mu(1:2);
+
+    % Set random distribution parameters
+    sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
+
+    % Set up random bivariate normal distribution function
+    objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu, sig);
+
+    % Regular initialization
+    obj = obj.initialize(objectiveFunction, domain, discretizationStep);
+end