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lots of cleanup and simplification in test case construction

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This commit is contained in:
Kevin Dee
2026-01-13 21:17:35 -08:00
parent 08e396c155
commit bcb3bc3da3
65 changed files with 150 additions and 265 deletions
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44
test/parametricTestSuite.m
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@@ -3,7 +3,6 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% System under test
testClass = miSim;
domain = rectangularPrism;
objective = sensingObjective;
obstacles = cell(1, 0);
%% Diagnostic Parameters
@@ -16,33 +15,52 @@ classdef parametricTestSuite < matlab.unittest.TestCase
end
properties (TestParameter)
%% Simulation Parameters
maxIter = num2cell([200, 400]); % number of timesteps to run
maxIter = num2cell([25]); % number of timesteps to run
% Domain parameters
minAlt = num2cell([1, 3]); % minimum allowed agent altitude, make sure test cases don't conflict with this
minAlt = num2cell([1]); % minimum allowed agent altitude, make sure test cases don't conflict with this
% Sensing Objective Parameters
discretizationStep = num2cell([0.01, 0.05]);
discretizationStep = num2cell([0.01]);
% Agent Parameters
collisionRange = num2cell([0.1, 0.5]);
collisionRadius = num2cell([0.1]);
% Sensor Model Parameters
betaDist = num2cell(3:6:15);
betaTilt = num2cell(3:6:15);
alphaDist = num2cell([2.5, 5]);
alphaTilt = num2cell([15, 30]); % (degrees)
betaDist = num2cell([3, 15]);
alphaTilt = num2cell([15, 30]); % (degrees)methods
betaTilt = num2cell([3, 15]);
% Communications Parameters
comRange = num2cell(1:2:5);
comRange = num2cell([3]);
end
methods (Test, ParameterCombination = "exhaustive")
% Test methods
% Test cases
function single_agent_gradient_ascent(tc, maxIter, minAlt, discretizationStep, collisionRadius, alphaDist, betaDist, alphaTilt, betaTilt, comRange)
% Set up square domain
l = 10;
tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, discretizationStep, tc.protectedRange);
% Set up agent
sensorModel = sigmoidSensor;
sensorModel = sensorModel.initialize(alphaDist, betaDist, alphaTilt, betaTilt);
agentPos = [l/4, l/4, 3*l/4];
collisionGeometry = spherical;
collisionGeometry = collisionGeometry.initialize(agentPos, collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Region");
agents = {agent};
agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, comRange, maxIter, "Agent 1", tc.plotCommsGeometry);
function single_agent_gradient_ascent(tc, maxIter, minAlt, discretizationStep, collisionRange, alphaDist, alphaTilt, betaDist, betaTilt, comRange)
1;
% Set up simulation
tc.testClass = tc.testClass.initialize(tc.domain, agents, minAlt, tc.timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
% Run
tc.testClass = tc.testClass.run();
% Cleanup
tc.testClass.teardown();
end
end
end