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Kevin Dee
2026-03-18 16:09:00 -07:00
parent 2ca0c286cd
commit b753f05d77
9 changed files with 55 additions and 55 deletions
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102
test/results.m
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@@ -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