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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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test/parametricTestSuite.m
+3 -3
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@@ -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)