From b9a2a83ac643a0bac9c7e74b0965bb9204e0b33c Mon Sep 17 00:00:00 2001 From: Kevin D Date: Sun, 16 Nov 2025 15:21:17 -0800 Subject: [PATCH] added randomness to sensor parameters --- test/test_miSim.m | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) diff --git a/test/test_miSim.m b/test/test_miSim.m index cfd4dcf..428e57f 100644 --- a/test/test_miSim.m +++ b/test/test_miSim.m @@ -34,6 +34,16 @@ classdef test_miSim < matlab.unittest.TestCase maxCollisionRange = 0.5; % Maximum randomly generated collision geometry size collisionRanges = NaN; + % Sensing + betaDistMin = 3; + betaDistMax = 15; + betaTiltMin = 3; + betaTiltMax = 15; + alphaDistMin = 2.5; + alphaDistMax = 3; + alphaTiltMin = deg2rad(15); + alphaTiltMax = deg2rad(30); + % Communications comRange = 5; % Maximum range between agents that forms a communications link end @@ -139,7 +149,7 @@ classdef test_miSim < matlab.unittest.TestCase % Initialize candidate agent sensor model sensor = sigmoidSensor; - sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); + sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin)); % Initialize candidate agent newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); @@ -269,7 +279,7 @@ classdef test_miSim < matlab.unittest.TestCase % Initialize candidate agent sensor model sensor = sigmoidSensor; - sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); + sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin)); % Initialize candidate agent newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); @@ -343,8 +353,11 @@ classdef test_miSim < matlab.unittest.TestCase % Initialize agent sensor model sensor = sigmoidSensor; + % Homogeneous sensor model parameters sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); - + % Heterogeneous sensor model parameters + % sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin)); + % Initialize agents tc.agents = {agent; agent}; tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d, 1, sprintf("Agent %d", 1));