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Added plotting of sigmoid sensor parameters

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Kevin D
2025-11-17 11:35:48 -08:00
parent 8b0fc11998
commit bf4fc83749
12 changed files with 99 additions and 4 deletions
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7
sensingModels/@sigmoidSensor/sensorPerformance.m
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@@ -15,9 +15,8 @@ function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos
tiltAngle = atan2(targetPos(:, 3) - agentPos(3), x) - agentTilt;
% Membership functions
mu_d = 1 - (1 ./ (1 + exp(-obj.betaDist .* (d - obj.alphaDist)))); % distance
mu_p = 1; % pan
mu_t = (1 ./ (1 + exp(-obj.betaTilt .* (tiltAngle + obj.alphaTilt)))) - (1 ./ (1 + exp(-obj.betaTilt .* (tiltAngle - obj.alphaTilt)))); % tilt
mu_d = obj.distanceMembership(d);
mu_t = obj.tiltMembership(tiltAngle);
value = mu_d .* mu_p .* mu_t;
value = mu_d .* mu_t; % assume pan membership is always 1
end