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refined domain and obstacle generation

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Kevin D
2025-10-25 18:22:06 -07:00
parent 7fff074a5c
commit da3f732250
1 changed files with 4 additions and 3 deletions
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7
test_miSim.m
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@@ -31,7 +31,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Generate a random domain % Generate a random domain
function tc = setDomain(tc) function tc = setDomain(tc)
% random integer-sized domain within [-10, 10] in all dimensions % random integer-sized domain within [-10, 10] in all dimensions
tc.domain = tc.domain.initialize(ceil([rand * -10, rand * 10; rand * -10, rand * 10; rand * -10, rand * 10]), REGION_TYPE.DOMAIN, "Domain"); L = ceil(5 + rand * 10 + rand * 10);
tc.domain = tc.domain.initialize(([0, L; 0, L; 0, L]), REGION_TYPE.DOMAIN, "Domain");
end end
% Generate a random sensing objective within that domain % Generate a random sensing objective within that domain
function tc = setSensingObjective(tc) function tc = setSensingObjective(tc)
@@ -74,8 +75,8 @@ classdef test_miSim < matlab.unittest.TestCase
while any(candidateMinCorner(1:2, 1) < tc.domain.minCorner(1:2, 1)) while any(candidateMinCorner(1:2, 1) < tc.domain.minCorner(1:2, 1))
candidateMinCorner = tc.domain.minCorner(1:3, 1) + [(tc.domain.maxCorner(1:2, 1) - tc.domain.minCorner(1:2, 1)) .* rand(2, 1); -Inf]; % random spots on the ground candidateMinCorner = tc.domain.minCorner(1:3, 1) + [(tc.domain.maxCorner(1:2, 1) - tc.domain.minCorner(1:2, 1)) .* rand(2, 1); -Inf]; % random spots on the ground
end end
while any(candidateMaxCorner(1:2, 1) > tc.domain.maxCorner(1:2, 1)) while any(candidateMaxCorner(1:3, 1) > tc.domain.maxCorner(1:3, 1))
candidateMaxCorner = [candidateMinCorner(1:2, 1); 0] + [(tc.domain.maxCorner(1:2, 1) - tc.domain.minCorner(1:2, 1)) .* rand(2, 1) ./ 2; Inf]; % halved to keep from being excessively large candidateMaxCorner = [candidateMinCorner(1:2, 1); 0] + ((tc.domain.maxCorner(1:3, 1) - tc.domain.minCorner(1:3, 1)) .* rand(3, 1) ./ 2); % halved to keep from being excessively large
end end
% once a domain-valid obstacle has been found, make % once a domain-valid obstacle has been found, make