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codegen fixes, bug fixes, gets running on testbed environment

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This commit is contained in:
Kevin Dee
2026-02-24 19:05:54 -08:00
parent fb9feac23d
commit bb97502be5
38 changed files with 1732 additions and 263 deletions
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2
geometries/@cone/plot.m
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@@ -31,7 +31,7 @@ function [obj, f] = plot(obj, ind, f, maxAlt)
o = surf(f.CurrentAxes, X, Y, Z);
else
hold(f.Children(1).Children(ind(1)), "on");
o = surf(f.Children(1).Children(ind(1)), X, Y, Z, ones([size(Z), 1]) .* reshape(obj.tag.color, 1, 1, 3), "FaceAlpha", 0.25, "EdgeColor", "none");
o = surf(f.Children(1).Children(ind(1)), X, Y, Z, ones([size(Z), 1]) .* reshape(regionTypeColor(obj.tag), 1, 1, 3), "FaceAlpha", 0.25, "EdgeColor", "none");
hold(f.Children(1).Children(ind(1)), "off");
end

4
geometries/@rectangularPrism/plotWireframe.m
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@@ -19,10 +19,10 @@ function [obj, f] = plotWireframe(obj, ind, f)
% Plot the boundaries of the geometry into 3D view
if isnan(ind)
o = plot3(f.CurrentAxes, X, Y, Z, "-", "Color", obj.tag.color, "LineWidth", 2);
o = plot3(f.CurrentAxes, X, Y, Z, "-", "Color", regionTypeColor(obj.tag), "LineWidth", 2);
else
hold(f.Children(1).Children(ind(1)), "on");
o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, "-", "Color", obj.tag.color, "LineWidth", 2);
o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, "-", "Color", regionTypeColor(obj.tag), "LineWidth", 2);
hold(f.Children(1).Children(ind(1)), "off");
end

6
geometries/@rectangularPrism/rectangularPrism.m
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@@ -28,6 +28,12 @@ classdef rectangularPrism
end
methods (Access = public)
function obj = rectangularPrism()
arguments (Output)
obj (1, 1) rectangularPrism
end
obj.objective = sensingObjective;
end
[obj ] = initialize(obj, bounds, tag, label, objectiveFunction, discretizationStep);
[obj ] = initializeRandom(obj, tag, label, minDimension, maxDimension, domain);
[r ] = random(obj);

4
geometries/@spherical/plotWireframe.m
View File

@@ -25,10 +25,10 @@ function [obj, f] = plotWireframe(obj, ind, f)
% Plot the boundaries of the geometry into 3D view
if isnan(ind)
o = plot3(f.CurrentAxes, X, Y, Z, "-", "Color", obj.tag.color, "LineWidth", 2);
o = plot3(f.CurrentAxes, X, Y, Z, "-", "Color", regionTypeColor(obj.tag), "LineWidth", 2);
else
hold(f.Children(1).Children(ind(1)), "on");
o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, "-", "Color", obj.tag.color, "LineWidth", 1);
o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, "-", "Color", regionTypeColor(obj.tag), "LineWidth", 1);
hold(f.Children(1).Children(ind(1)), "off");
end

12
geometries/@spherical/spherical.m
View File

@@ -2,12 +2,12 @@ classdef spherical
% Rectangular prism geometry
properties (SetAccess = private, GetAccess = public)
% Spatial
center = NaN;
center = NaN(1, 3);
radius = NaN;
diameter = NaN;
vertices; % fake vertices
edges; % fake edges
vertices = NaN(6, 3); % fake vertices
edges = NaN(8, 2); % fake edges
% Plotting
lines;
@@ -22,6 +22,12 @@ classdef spherical
end
methods (Access = public)
function obj = spherical()
arguments (Output)
obj (1, 1) spherical
end
obj.objective = sensingObjective;
end
[obj ] = initialize(obj, center, radius, tag, label);
[r ] = random(obj);
[c ] = contains(obj, pos);

24
geometries/REGION_TYPE.m
View File

@@ -1,20 +1,10 @@
classdef REGION_TYPE < uint8
properties
id
color
end
enumeration
INVALID (0, [255, 127, 255]); % default value
DOMAIN (1, [0, 0, 0]); % domain region
OBSTACLE (2, [255, 127, 127]); % obstacle region
COLLISION (3, [255, 255, 128]); % collision avoidance region
FOV (4, [255, 165, 0]); % field of view region
COMMS (5, [0, 255, 0]); % comunications region
INVALID (0) % default value
DOMAIN (1) % domain region
OBSTACLE (2) % obstacle region
COLLISION (3) % collision avoidance region
FOV (4) % field of view region
COMMS (5) % comunications region
end
methods
function obj = REGION_TYPE(id, color)
obj.id = id;
obj.color = color./ 255;
end
end
end
end

24
geometries/regionTypeColor.m Normal file
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@@ -0,0 +1,24 @@
function color = regionTypeColor(tag)
% regionTypeColor Return the RGB color (0-1 range) for a REGION_TYPE value.
arguments (Input)
tag (1, 1) REGION_TYPE
end
arguments (Output)
color (1, 3) double
end
switch tag
case REGION_TYPE.DOMAIN
color = [0, 0, 0] / 255;
case REGION_TYPE.OBSTACLE
color = [255, 127, 127] / 255;
case REGION_TYPE.COLLISION
color = [255, 255, 128] / 255;
case REGION_TYPE.FOV
color = [255, 165, 0] / 255;
case REGION_TYPE.COMMS
color = [0, 255, 0] / 255;
otherwise % INVALID
color = [255, 127, 255] / 255;
end
end