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included features from SPAWC 2026 branch

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Kevin Dee
2026-03-31 21:18:02 -07:00
parent ca891a809f
commit c3fa1de914
16 changed files with 65 additions and 36 deletions
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17
@sensingObjective/initialize.m
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@@ -1,4 +1,4 @@
function obj = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange, sensorPerformanceMinimum)
function obj = initialize(obj, objectiveFunction, domain, discretizationStep, protectedRange, sensorPerformanceMinimum, objectiveMu, objectiveSigma)
arguments (Input)
obj (1,1) {mustBeA(obj, "sensingObjective")};
objectiveFunction (1, 1) {mustBeA(objectiveFunction, "function_handle")};
@@ -6,6 +6,8 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
discretizationStep (1, 1) double = 1;
protectedRange (1, 1) double = 1;
sensorPerformanceMinimum (1, 1) double = 1e-6;
objectiveMu (:, 2) double = NaN(1, 2);
objectiveSigma (:, 2, 2) double = NaN(1, 2, 2);
end
arguments (Output)
obj (1,1) {mustBeA(obj, "sensingObjective")};
@@ -36,9 +38,14 @@ function obj = initialize(obj, objectiveFunction, domain, discretizationStep, pr
obj.values = obj.values ./ max(obj.values, [], "all");
% store ground position
idx = obj.values == 1;
obj.groundPos = [obj.X(idx), obj.Y(idx)];
obj.groundPos = obj.groundPos(1, 1:2); % for safety, in case 2 points are maximal (somehow)
idx = obj.values == 1;
if any(isnan(objectiveMu))
obj.groundPos = [obj.X(idx), obj.Y(idx)];
obj.groundPos = obj.groundPos(1, 1:2); % for safety, in case 2 points are maximal (somehow)
else
obj.groundPos = objectiveMu;
end
obj.objectiveSigma = objectiveSigma;
assert(domain.distance([obj.groundPos, domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective")
assert(domain.distance([obj.groundPos, ones(size(obj.groundPos, 1), 1) .* domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective");
end

2
@sensingObjective/initializeRandomMvnpdf.m
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@@ -11,7 +11,7 @@ function obj = initializeRandomMvnpdf(obj, domain, discretizationStep, protected
% Set random objective position
mu = domain.minCorner;
while domain.distance(mu) < protectedRange
while domain.distance(mu) < protectedRange * 1.01
mu = domain.random();
end

3
@sensingObjective/sensingObjective.m
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@@ -2,7 +2,8 @@ classdef sensingObjective
% Sensing objective definition parent class
properties (SetAccess = private, GetAccess = public)
label = "";
groundPos = [NaN, NaN];
groundPos = NaN(1, 2);
objectiveSigma = NaN(1, 2, 2);
discretizationStep = NaN;
X = [];
Y = [];