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added sensor pointing by gradient ascent

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This commit is contained in:
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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test/parametricTestSuite.m
+3 -3
View File
@@ -47,7 +47,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
collisionGeometry = spherical;
collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), tc.plotCommsGeometry);
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, 5.0, sprintf("Agent %d", ii), tc.plotCommsGeometry);
end
% Create obstacles
@@ -106,7 +106,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Initialize agent
collisionGeometry = collisionGeometry.initialize(agentPos, params.collisionRadius(ii, 1), REGION_TYPE.COLLISION, "Agent 1 Collision Region");
agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, params.comRange(ii, 1), params.maxIter(ii), params.initialStepSize(ii), "Agent 1", tc.plotCommsGeometry);
agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, params.comRange(ii, 1), params.maxIter(ii), params.initialStepSize(ii), 5.0, "Agent 1", tc.plotCommsGeometry);
% Set up remaining agents in random (valid) locations
for jj = 2:size(agents, 1)
@@ -148,7 +148,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Initialize agent
collisionGeometry = collisionGeometry.initialize(agentPos, params.collisionRadius(ii, jj), REGION_TYPE.COLLISION, sprintf("Agent %d Collision Region", jj));
agents{jj} = agents{jj}.initialize(agentPos, collisionGeometry, sensorModel, params.comRange(ii, jj), params.maxIter(ii), params.initialStepSize(ii), sprintf("Agent %d", jj), tc.plotCommsGeometry);
agents{jj} = agents{jj}.initialize(agentPos, collisionGeometry, sensorModel, params.comRange(ii, jj), params.maxIter(ii), params.initialStepSize(ii), 5.0, sprintf("Agent %d", jj), tc.plotCommsGeometry);
end
% randomly shuffle agents to make the network more interesting (probably)
test/test_miSim.m
+115 -45
View File
@@ -31,6 +31,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Agents
initialStepSize = 0.2; % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
initialMaxAngleStepSize = 5; % angular step size (degrees) for tilt/azimuth gradient ascent per timestep.
minAgents = 3; % Minimum number of agents to be randomly generated
maxAgents = 4; % Maximum number of agents to be randomly generated
useDoubleIntegrator = false;
@@ -55,6 +56,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Communications
useFixedTopology = false;
optimizeSensorPointing = false;
minCommsRange = 3; % Minimum randomly generated collision geometry size
maxCommsRange = 5; % Maximum randomly generated collision geometry size
commsRanges = NaN;
@@ -173,7 +175,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.sensor = tc.sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, tc.sensor, tc.commsRanges(ii), tc.maxIter, tc.initialStepSize);
newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, tc.sensor, tc.commsRanges(ii), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Make sure candidate agent doesn't collide with
% domain
@@ -227,7 +229,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
end
function miSim_run(tc)
% randomly create obstacles
@@ -312,7 +314,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.sensor = tc.sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, tc.sensor, tc.commsRanges(ii), tc.maxIter, tc.initialStepSize);
newAgent = tc.agents{ii}.initialize(candidatePos, candidateGeometry, tc.sensor, tc.commsRanges(ii), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Make sure candidate agent doesn't collide with
% domain
@@ -366,7 +368,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Write out initialization state
tc.testClass.writeInits();
@@ -392,15 +394,15 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.commsRanges = 3 * d * ones(size(tc.agents));
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], geometry3, tc.sensor, tc.commsRanges(3), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], geometry3, tc.sensor, tc.commsRanges(3), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.makePlots = false;
tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
centerIdx = floor(size(tc.testClass.partitioning, 1) / 2);
tc.verifyEqual(tc.testClass.partitioning(centerIdx, centerIdx:(centerIdx + 2)), [2, 3, 1]); % all three near center
@@ -419,13 +421,13 @@ classdef test_miSim < matlab.unittest.TestCase
tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 20, 3);
% Initialize agents
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.makePlots = false;
tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
close(tc.testClass.fPerf);
tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1]);
@@ -449,11 +451,11 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass = tc.testClass.run();
@@ -476,11 +478,11 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass = tc.testClass.run();
@@ -504,18 +506,86 @@ classdef test_miSim < matlab.unittest.TestCase
BW = 20e6; % Bandwidth (Hz)
f_c = 2e9; % Center frequency (Hz)
G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
beamwidthExponent = 6;
lossExponent = 2;
tc.sensor = rfSensor;
tc.sensor = tc.sensor.initialize(P_TX, BW, f_c, G_RX_dBi, 45, 45);
tc.sensor = tc.sensor.initialize(P_TX, BW, f_c, G_RX_dBi, beamwidthExponent, 45, 45, lossExponent);
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.minAlt = 0.5;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass = tc.testClass.run();
end
function test_single_agent_gradient_ascent_sensor_pointing(tc)
% make basic domain
tc.minDimension = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 20, 3);
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.optimizeSensorPointing = true;
tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass = tc.testClass.run();
end
function test_single_agent_gradient_ascent_rf_sensor_pointing(tc)
% make basic domain
tc.minDimension = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
minimumSINR = 50; % (dB)
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, minimumSINR, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
P_TX = 1e-3; % Transmit power (Watts)
BW = 20e6; % Bandwidth (Hz)
f_c = 2e9; % Center frequency (Hz)
G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
beamwidthExponent = 6;
lossExponent = 2;
tc.sensor = rfSensor;
tc.sensor = tc.sensor.initialize(P_TX, BW, f_c, G_RX_dBi, beamwidthExponent, 0, 0, lossExponent);
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.optimizeSensorPointing = true;
tc.obstacles = cell(0, 1);
tc.minAlt = 0.5;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass = tc.testClass.run();
@@ -546,12 +616,12 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.maxIter = 25;
tc.commsRanges = 5 * ones(size(tc.agents));
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass.run();
@@ -593,11 +663,11 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.commsRanges = (2 * tc.collisionRanges(1) + obstacleLength) * 0.9 * ones(size(tc.agents)); % defined such that they cannot go around the obstacle on both sides
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, tc.collisionRanges(1) * 1.1 - yOffset, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, tc.collisionRanges(2) *1.1 + yOffset, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, tc.collisionRanges(1) * 1.1 - yOffset, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, tc.collisionRanges(2) *1.1 + yOffset, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass.run();
@@ -633,11 +703,11 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.maxIter = 50;
tc.commsRanges = 4 * ones(size(tc.agents)); % defined such that they cannot reach their objective without breaking connectivity
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Run the simulation
tc.testClass = tc.testClass.run();
@@ -668,8 +738,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.maxIter = 125;
tc.commsRanges = 5 * ones(size(tc.agents));
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize obstacles
obstacleLength = 1.5;
@@ -680,7 +750,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.minAlt = 0;
tc.makePlots = false;
tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Communications link should be established
tc.assertEqual(tc.testClass.adjacency, logical(true(2)));
@@ -715,17 +785,17 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.maxIter = 125;
tc.commsRanges = ones(size(tc.agents));
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], geometry3, tc.sensor, tc.commsRanges(3), tc.maxIter, tc.initialStepSize);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], geometry4, tc.sensor, tc.commsRanges(4), tc.maxIter, tc.initialStepSize);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], geometry5, tc.sensor, tc.commsRanges(5), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], geometry3, tc.sensor, tc.commsRanges(3), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], geometry4, tc.sensor, tc.commsRanges(4), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], geometry5, tc.sensor, tc.commsRanges(5), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.minAlt = 0;
tc.makePlots = false;
tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Constraint adjacency matrix defined by LNA should be as follows
tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...
@@ -767,19 +837,19 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents
tc.maxIter = 125;
tc.commsRanges = d * ones(size(tc.agents));
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [-0.9 * d/sqrt(2), 0.9 * d/sqrt(2), 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + [-0.5 * d, 0.25 * d, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [0.9 * d, 0, 0], geometry3, tc.sensor, tc.commsRanges(3), tc.maxIter, tc.initialStepSize);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [0.9 * d/sqrt(2), -0.9 * d/sqrt(2), 0], geometry4, tc.sensor, tc.commsRanges(4), tc.maxIter, tc.initialStepSize);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, 0.9 * d, 0], geometry5, tc.sensor, tc.commsRanges(5), tc.maxIter, tc.initialStepSize);
tc.agents{6} = tc.agents{6}.initialize(tc.domain.center, geometry6, tc.sensor, tc.commsRanges(6), tc.maxIter, tc.initialStepSize);
tc.agents{7} = tc.agents{7}.initialize(tc.domain.center + [d/2, d/2, 0], geometry7, tc.sensor, tc.commsRanges(7), tc.maxIter, tc.initialStepSize);
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [-0.9 * d/sqrt(2), 0.9 * d/sqrt(2), 0], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + [-0.5 * d, 0.25 * d, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [0.9 * d, 0, 0], geometry3, tc.sensor, tc.commsRanges(3), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [0.9 * d/sqrt(2), -0.9 * d/sqrt(2), 0], geometry4, tc.sensor, tc.commsRanges(4), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, 0.9 * d, 0], geometry5, tc.sensor, tc.commsRanges(5), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{6} = tc.agents{6}.initialize(tc.domain.center, geometry6, tc.sensor, tc.commsRanges(6), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
tc.agents{7} = tc.agents{7}.initialize(tc.domain.center + [d/2, d/2, 0], geometry7, tc.sensor, tc.commsRanges(7), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Initialize the simulation
tc.minAlt = 0;
tc.makePlots = false;
tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Constraint adjacency matrix defined by LNA should be as follows
tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...
@@ -859,7 +929,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), ...
tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
newAgent = agent;
newAgent = newAgent.initialize(candidatePos, geom, tc.sensor, tc.commsRanges(ii), tc.maxIter, tc.initialStepSize);
newAgent = newAgent.initialize(candidatePos, geom, tc.sensor, tc.commsRanges(ii), tc.maxIter, tc.initialStepSize, tc.initialMaxAngleStepSize);
% Domain / obstacle / agent collision checks
violation = false;
@@ -894,7 +964,7 @@ classdef test_miSim < matlab.unittest.TestCase
sim1 = miSim;
sim1 = sim1.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, ...
tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, false, false, ...
tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology, tc.optimizeSensorPointing);
% Write inits and build file path
sim1.writeInits();