diff --git a/plot_1.m b/plots_1_2.m
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rename from plot_1.m
rename to plots_1_2.m
diff --git a/plot_3.m b/plots_3_4.m
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rename to plots_3_4.m
diff --git a/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Dt-U7DFYhio-3hILJY9YWPnda6sp.xml b/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Dt-U7DFYhio-3hILJY9YWPnda6sp.xml
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diff --git a/test/results.m b/test/results.m
index 6555fbc..a379de7 100644
--- a/test/results.m
+++ b/test/results.m
@@ -269,57 +269,57 @@ classdef results < matlab.unittest.TestCase
tc.testClass = tc.testClass.teardown();
close all;
end
- % function AIIbeta_plots_3_4(tc)
- % % test-specific parameters
- % tc.makePlots = true;
- % tc.makeVideo = true;
- % maxIters = 400;
- %
- % configs = results.makeConfigs();
- % c = configs.A_2_alpha;
- % c.doubleIntegrator = true; % make a2alpha into a2beta
- %
- % % Set up fixed-size domain
- % minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);
- % tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
- %
- % % Set objective
- % objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4];
- % objectiveSigma = reshape([215, 100; 100, 175], [1, 2, 2]);
- % tc.testClass.domain.objective = tc.testClass.domain.objective.initialize(objectiveFunctionWrapper(objectiveMu, objectiveSigma), tc.testClass.domain, tc.discretizationStep, tc.protectedRange, tc.sensorPerformanceMinimum, objectiveMu, objectiveSigma);
- %
- % % Set agent initial states (fully connected network of 4)
- % centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4];
- % d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4;
- % agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d;
- % agentAlt = minAlt * 1.5;
- % agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5];
- %
- % agents = {agent, agent, agent, agent};
- % cg = spherical;
- % sensorModel = sigmoidSensor;
- % sensorModel = sensorModel.initialize(c.sensor.alphaDist, c.sensor.betaDist, c.sensor.alphaTilt, c.sensor.betaTilt);
- % agents{1} = agents{1}.initialize(agentsPos(1, :), cg.initialize(agentsPos(1, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 1", false);
- % agents{2} = agents{2}.initialize(agentsPos(2, :), cg.initialize(agentsPos(2, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 2 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 2", false);
- % agents{3} = agents{3}.initialize(agentsPos(3, :), cg.initialize(agentsPos(3, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 3 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 3", false);
- % agents{4} = agents{4}.initialize(agentsPos(4, :), cg.initialize(agentsPos(4, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 4 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 4", false);
- %
- % obstacles = cell(1, 1);
- % obstacles{1} = rectangularPrism;
- % obstacles{1} = obstacles{1}.initialize([0, tc.domainSize(2)/2, 0; tc.domainSize(1) * 0.4, tc.domainSize(2), 40],REGION_TYPE.OBSTACLE, "Obstacle 1");
- %
- % % Set up simulation
- % tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, maxIters, obstacles, tc.makePlots, tc.makeVideo, c.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
- %
- % % Save simulation parameters to output file
- % tc.testClass.writeInits();
- %
- % % Run
- % tc.testClass = tc.testClass.run();
- %
- % % Cleanup
- % tc.testClass = tc.testClass.teardown();
- % end
+ function AIIbeta_plots_3_4(tc)
+ % test-specific parameters
+ tc.makePlots = false;
+ tc.makeVideo = false;
+ maxIters = 400;
+
+ configs = results.makeConfigs();
+ c = configs.A_2_alpha;
+ c.doubleIntegrator = true; % make a2alpha into a2beta
+
+ % Set up fixed-size domain
+ minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);
+ tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
+
+ % Set objective
+ objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4];
+ objectiveSigma = reshape([215, 100; 100, 175], [1, 2, 2]);
+ tc.testClass.domain.objective = tc.testClass.domain.objective.initialize(objectiveFunctionWrapper(objectiveMu, objectiveSigma), tc.testClass.domain, tc.discretizationStep, tc.protectedRange, tc.sensorPerformanceMinimum, objectiveMu, objectiveSigma);
+
+ % Set agent initial states (fully connected network of 4)
+ centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4];
+ d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4;
+ agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d;
+ agentAlt = minAlt * 1.5;
+ agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5];
+
+ agents = {agent, agent, agent, agent};
+ cg = spherical;
+ sensorModel = sigmoidSensor;
+ sensorModel = sensorModel.initialize(c.sensor.alphaDist, c.sensor.betaDist, c.sensor.alphaTilt, c.sensor.betaTilt);
+ agents{1} = agents{1}.initialize(agentsPos(1, :), cg.initialize(agentsPos(1, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 1", false);
+ agents{2} = agents{2}.initialize(agentsPos(2, :), cg.initialize(agentsPos(2, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 2 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 2", false);
+ agents{3} = agents{3}.initialize(agentsPos(3, :), cg.initialize(agentsPos(3, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 3 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 3", false);
+ agents{4} = agents{4}.initialize(agentsPos(4, :), cg.initialize(agentsPos(4, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 4 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 4", false);
+
+ obstacles = cell(1, 1);
+ obstacles{1} = rectangularPrism;
+ obstacles{1} = obstacles{1}.initialize([0, tc.domainSize(2)/2, 0; tc.domainSize(1) * 0.4, tc.domainSize(2), 40],REGION_TYPE.OBSTACLE, "Obstacle 1");
+
+ % Set up simulation
+ tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, maxIters, obstacles, tc.makePlots, tc.makeVideo, c.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
+
+ % Save simulation parameters to output file
+ tc.testClass.writeInits();
+
+ % Run
+ tc.testClass = tc.testClass.run();
+
+ % Cleanup
+ tc.testClass = tc.testClass.teardown();
+ end
end
methods