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fixed test cases

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This commit is contained in:
Kevin Dee
2026-03-13 16:58:23 -07:00
parent 771575560f
commit ca891a809f
2 changed files with 15 additions and 12 deletions
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2
aerpaw/config/scenario.csv
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@@ -1,2 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology
5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 0 5, 100, 30.0, 0.1, 2.0, 2.0, 100, 3, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax useDoubleIntegrator dampingCoeff useFixedTopology
2 5 100 30.0 0.1 2.0 2.0 100 3 5.0, 5.0 25.0, 25.0 80.0, 80.0 0.25, 0.25 5.0, 5.0 0.1, 0.1 0.0, 0.0, 0.0 80.0, 80.0, 80.0 55.0, 55.0 40, 25, 25, 40 0.15 15.0, 10.0, 40.0, 5.0, 10.0, 45.0 1 1.0, 25.0, 0.0 30.0, 30.0, 50.0 1 2.0 0 1

25
test/test_miSim.m
View File

@@ -33,6 +33,8 @@ classdef test_miSim < matlab.unittest.TestCase
initialStepSize = 0.2; % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter. initialStepSize = 0.2; % gradient ascent step size at the first iteration. Decreases linearly to 0 based on maxIter.
minAgents = 3; % Minimum number of agents to be randomly generated minAgents = 3; % Minimum number of agents to be randomly generated
maxAgents = 4; % Maximum number of agents to be randomly generated maxAgents = 4; % Maximum number of agents to be randomly generated
useDoubleIntegrator = false;
dampingCoeff = 2;
agents = cell(0, 1); agents = cell(0, 1);
% Collision % Collision
@@ -52,6 +54,7 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sigmoidSensor; sensor = sigmoidSensor;
% Communications % Communications
useFixedTopology = false;
minCommsRange = 3; % Minimum randomly generated collision geometry size minCommsRange = 3; % Minimum randomly generated collision geometry size
maxCommsRange = 5; % Maximum randomly generated collision geometry size maxCommsRange = 5; % Maximum randomly generated collision geometry size
commsRanges = NaN; commsRanges = NaN;
@@ -224,7 +227,7 @@ classdef test_miSim < matlab.unittest.TestCase
end end
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
end end
function miSim_run(tc) function miSim_run(tc)
% randomly create obstacles % randomly create obstacles
@@ -363,7 +366,7 @@ classdef test_miSim < matlab.unittest.TestCase
end end
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Write out initialization state % Write out initialization state
tc.testClass.writeInits(); tc.testClass.writeInits();
@@ -397,7 +400,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.obstacles = cell(0, 1); tc.obstacles = cell(0, 1);
tc.makePlots = false; tc.makePlots = false;
tc.makeVideo = false; tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
centerIdx = floor(size(tc.testClass.partitioning, 1) / 2); centerIdx = floor(size(tc.testClass.partitioning, 1) / 2);
tc.verifyEqual(tc.testClass.partitioning(centerIdx, centerIdx:(centerIdx + 2)), [2, 3, 1]); % all three near center tc.verifyEqual(tc.testClass.partitioning(centerIdx, centerIdx:(centerIdx + 2)), [2, 3, 1]); % all three near center
@@ -422,7 +425,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.obstacles = cell(0, 1); tc.obstacles = cell(0, 1);
tc.makePlots = false; tc.makePlots = false;
tc.makeVideo = false; tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
close(tc.testClass.fPerf); close(tc.testClass.fPerf);
tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1]); tc.verifyEqual(unique(tc.testClass.partitioning), [0; 1]);
@@ -450,7 +453,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize the simulation % Initialize the simulation
tc.obstacles = cell(0, 1); tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation % Run the simulation
tc.testClass = tc.testClass.run();end tc.testClass = tc.testClass.run();end
@@ -485,7 +488,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize the simulation % Initialize the simulation
tc.obstacles = cell(0, 1); tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation % Run the simulation
tc.testClass.run(); tc.testClass.run();
@@ -531,7 +534,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, tc.collisionRanges(2) *1.1 + yOffset, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, tc.collisionRanges(2) *1.1 + yOffset, 0], geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation % Run the simulation
tc.testClass.run(); tc.testClass.run();
@@ -571,7 +574,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, geometry2, tc.sensor, tc.commsRanges(2), tc.maxIter, tc.initialStepSize);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation % Run the simulation
tc.testClass = tc.testClass.run(); tc.testClass = tc.testClass.run();
@@ -614,7 +617,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.minAlt = 0; tc.minAlt = 0;
tc.makePlots = false; tc.makePlots = false;
tc.makeVideo = false; tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Communications link should be established % Communications link should be established
tc.assertEqual(tc.testClass.adjacency, logical(true(2))); tc.assertEqual(tc.testClass.adjacency, logical(true(2)));
@@ -659,7 +662,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.minAlt = 0; tc.minAlt = 0;
tc.makePlots = false; tc.makePlots = false;
tc.makeVideo = false; tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Constraint adjacency matrix defined by LNA should be as follows % Constraint adjacency matrix defined by LNA should be as follows
tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ... tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...
@@ -713,7 +716,7 @@ classdef test_miSim < matlab.unittest.TestCase
tc.minAlt = 0; tc.minAlt = 0;
tc.makePlots = false; tc.makePlots = false;
tc.makeVideo = false; tc.makeVideo = false;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Constraint adjacency matrix defined by LNA should be as follows % Constraint adjacency matrix defined by LNA should be as follows
tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ... tc.assertEqual(tc.testClass.constraintAdjacencyMatrix, logical( ...