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added sensor pointing by gradient ascent

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Kevin Dee
2026-05-07 09:04:52 -07:00
parent 740b42eba4
commit b44df40c7e
17 changed files with 296 additions and 148 deletions
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@agent/initialize.m
+4 -1
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@@ -1,4 +1,4 @@
function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, label, plotCommsGeometry)
function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, maxIter, initialStepSize, initialMaxAngleStepSize, label, plotCommsGeometry)
arguments (Input)
obj (1, 1) {mustBeA(obj, "agent")};
pos (1, 3) double;
@@ -7,6 +7,7 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
comRange (1, 1) double;
maxIter (1, 1) double;
initialStepSize (1, 1) double = 0.2;
initialMaxAngleStepSize (1, 1) double = 5.0;
label (1, 1) string = "";
plotCommsGeometry (1, 1) logical = false;
end
@@ -23,7 +24,9 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
obj.label = label;
obj.plotCommsGeometry = plotCommsGeometry;
obj.initialStepSize = initialStepSize;
obj.initialMaxAngleStepSize = initialMaxAngleStepSize;
obj.stepDecayRate = obj.initialStepSize / maxIter;
obj.angleStepDecayRate = obj.initialMaxAngleStepSize / maxIter;
% Initialize performance vector
if coder.target('MATLAB')