kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

adjusted partitioning to allow non-assignment

Browse Source
This commit is contained in:
Kevin D
2025-11-15 17:02:04 -08:00
parent 175a0e02a1
commit c3a840bae2
4 changed files with 12 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
test/test_miSim.m
View File

@@ -411,7 +411,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.domain = tc.domain.initialize([zeros(1, 3); 10 * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2), eye(2)), tc.domain.footprint, tc.domain.minCorner(3), tc.discretizationStep);
tc.domain.objective = tc.domain.objective.initialize(@(x, y) mvnpdf([x(:), y(:)], tc.domain.center(1:2)), tc.domain, tc.discretizationStep);
% Initialize agent collision geometry
geometry1 = rectangularPrism;
@@ -428,6 +428,12 @@ classdef test_miSim < matlab.unittest.TestCase
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));
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, 2, sprintf("Agent %d", 2));
% Optional third agent along the +Y axis
% geometry3 = rectangularPrism;
% geometry3 = geometry3.initialize([tc.domain.center - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
% tc.agents{3} = agent;
% tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
end