Added plotting of sigmoid sensor parameters

resources/project/LMc5a8ETDcRip3rYsQxn56S6obM/Xa8LYoHW6o1icagNgoJY5eYksJ0d.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/LMc5a8ETDcRip3rYsQxn56S6obM/Xa8LYoHW6o1icagNgoJY5eYksJ0p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="plotParameters.m" type="File"/>

resources/project/LMc5a8ETDcRip3rYsQxn56S6obM/ryNm0kOvTMRy3DefgdmGp1GqV-Yd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/LMc5a8ETDcRip3rYsQxn56S6obM/ryNm0kOvTMRy3DefgdmGp1GqV-Yp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="tiltMembership.m" type="File"/>

resources/project/LMc5a8ETDcRip3rYsQxn56S6obM/wiELvAwZYF03DX0eRNI7i1vkqXkd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/LMc5a8ETDcRip3rYsQxn56S6obM/wiELvAwZYF03DX0eRNI7i1vkqXkp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="distanceMembership.m" type="File"/>

sensingModels/@sigmoidSensor/distanceMembership.m

@@ -0,0 +1,10 @@
+function x = distanceMembership(obj, d)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
+        d (:, 1) double;
+    end
+    arguments (Output)
+        x (:, 1) double;
+    end
+    x = 1 - (1 ./ (1 + exp(-obj.betaDist .* (abs(d) - obj.alphaDist))));
+end

sensingModels/@sigmoidSensor/plotParameters.m

@@ -0,0 +1,44 @@
+function f = plotParameters(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
+    end
+    arguments (Output)
+        f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+    end
+
+    % Distance and tilt sample points
+    d = 0:(obj.alphaDist / 100):(2*obj.alphaDist);
+    t = -90:1:90;
+
+    % Sample membership functions
+    d_x = obj.distanceMembership(d);
+    t_x = obj.tiltMembership(deg2rad(t));
+
+    % Plot resultant sigmoid curves
+    f = figure;
+    tiledlayout(f, 2, 1, "TileSpacing", "tight", "Padding", "compact");
+
+    % Distance
+    nexttile(1, [1,  1]);
+    grid(f.Children(1).Children(1), "on");
+    title(f.Children(1).Children(1), "Distance Membership Sigmoid");
+    xlabel(f.Children(1).Children(1), "Distance (m)");
+    ylabel(f.Children(1).Children(1), "Membership");
+    hold(f.Children(1).Children(1), 'on');
+    plot(f.Children(1).Children(1), d, d_x, 'LineWidth', 2);
+    hold(f.Children(1).Children(1), 'off');
+    ylim([0, 1]);
+
+    % Tilt
+    nexttile(2, [1,  1]);
+    grid(f.Children(1).Children(1), "on");
+    title(f.Children(1).Children(1), "Tilt Membership Sigmoid");
+    xlabel(f.Children(1).Children(1), "Tilt (deg)");
+    ylabel(f.Children(1).Children(1), "Membership");
+    hold(f.Children(1).Children(1), 'on');
+    plot(f.Children(1).Children(1), t, t_x, 'LineWidth', 2);
+    hold(f.Children(1).Children(1), 'off');
+
+
+    keyboard
+end

sensingModels/@sigmoidSensor/sensorPerformance.m

@@ -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_d = obj.distanceMembership(d);
-    mu_p = 1; % pan
+    mu_t = obj.tiltMembership(tiltAngle);
-    mu_t = (1 ./ (1 + exp(-obj.betaTilt .* (tiltAngle + obj.alphaTilt)))) - (1 ./ (1 + exp(-obj.betaTilt .* (tiltAngle - obj.alphaTilt)))); % tilt
 
-    value = mu_d .* mu_p .* mu_t;
+    value = mu_d .* mu_t; % assume pan membership is always 1
 end

sensingModels/@sigmoidSensor/sigmoidSensor.m

@@ -13,5 +13,10 @@ classdef sigmoidSensor
         [obj]               = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt);
         [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning);
         [value]             = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos);
+        plotParameters(obj);
+    end
+    methods (Access = private)
+        x = distanceMembership(obj, d);
+        x = tiltMembership(obj, t);
     end
 end

sensingModels/@sigmoidSensor/tiltMembership.m

@@ -0,0 +1,10 @@
+function x = tiltMembership(obj, t)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
+        t (:, 1) double;
+    end
+    arguments (Output)
+        x (:, 1) double;
+    end
+    x = (1 ./ (1 + exp(-obj.betaTilt .* (t + obj.alphaTilt)))) - (1 ./ (1 + exp(-obj.betaTilt .* (t - obj.alphaTilt))));
+end

test/test_sigmoidSensor.m

@@ -34,6 +34,9 @@ classdef test_sigmoidSensor < matlab.unittest.TestCase
             alphaTilt = deg2rad(15);
             betaTilt = 3;
             tc.testClass = tc.testClass.initialize(alphaDist, betaDist, NaN, NaN, alphaTilt, betaTilt);
+            
+            % Plot
+            tc.testClass.plotParameters();
 
             % Performance at current position should be maximized (1)
             % some wiggle room is needed for certain parameter conditions,