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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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plot_1.m → plots_1_2.m
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plot_3.m → plots_3_4.m
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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Dt-U7DFYhio-3hILJY9YWPnda6sp.xml
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="plot_1.m" type="File"/>

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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Dt-U7DFYhio-3hILJY9YWPnda6sd.xml → resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/FAIFc6EGkYrae07xGB2jWoFdM-0d.xml
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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/FAIFc6EGkYrae07xGB2jWoFdM-0p.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="plots_3_4.m" type="File"/>

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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/e-EiR3xDuOjis31Xf2_ZV1uoriEd.xml → resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/cQhJ0S-hbiRJRVZSMGQe9M3c01Yd.xml
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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/cQhJ0S-hbiRJRVZSMGQe9M3c01Yp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="plots_1_2.m" type="File"/>

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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/e-EiR3xDuOjis31Xf2_ZV1uoriEp.xml
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="plot_3.m" type="File"/>

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test/results.m
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@@ -269,57 +269,57 @@ classdef results < matlab.unittest.TestCase
tc.testClass = tc.testClass.teardown(); tc.testClass = tc.testClass.teardown();
close all; close all;
end end
% function AIIbeta_plots_3_4(tc) function AIIbeta_plots_3_4(tc)
% % test-specific parameters % test-specific parameters
% tc.makePlots = true; tc.makePlots = false;
% tc.makeVideo = true; tc.makeVideo = false;
% maxIters = 400; maxIters = 400;
%
% configs = results.makeConfigs(); configs = results.makeConfigs();
% c = configs.A_2_alpha; c = configs.A_2_alpha;
% c.doubleIntegrator = true; % make a2alpha into a2beta c.doubleIntegrator = true; % make a2alpha into a2beta
%
% % Set up fixed-size domain % Set up fixed-size domain
% minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3); 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"); tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
%
% % Set objective % Set objective
% objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4]; objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4];
% objectiveSigma = reshape([215, 100; 100, 175], [1, 2, 2]); 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); 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) % Set agent initial states (fully connected network of 4)
% centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4]; centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4];
% d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4; d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4;
% agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d; agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d;
% agentAlt = minAlt * 1.5; agentAlt = minAlt * 1.5;
% agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5]; agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5];
%
% agents = {agent, agent, agent, agent}; agents = {agent, agent, agent, agent};
% cg = spherical; cg = spherical;
% sensorModel = sigmoidSensor; sensorModel = sigmoidSensor;
% sensorModel = sensorModel.initialize(c.sensor.alphaDist, c.sensor.betaDist, c.sensor.alphaTilt, c.sensor.betaTilt); 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{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{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{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); 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 = cell(1, 1);
% obstacles{1} = rectangularPrism; 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"); 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 % 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); 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 % Save simulation parameters to output file
% tc.testClass.writeInits(); tc.testClass.writeInits();
%
% % Run % Run
% tc.testClass = tc.testClass.run(); tc.testClass = tc.testClass.run();
%
% % Cleanup % Cleanup
% tc.testClass = tc.testClass.teardown(); tc.testClass = tc.testClass.teardown();
% end end
end end
methods methods