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plots 3 and 4

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This commit is contained in:
Kevin Dee
2026-03-16 19:22:31 -07:00
parent 6b74347411
commit e77b05bc0f
7 changed files with 166 additions and 29 deletions
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23
test/results.m
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@@ -59,21 +59,21 @@ classdef results < matlab.unittest.TestCase
function c = makeConfigs()
rng(results.seed);
abMin = 6; % alpha*beta >= 6 ensures membership(0) = tanh(3) >= 0.995
alphaDist = rand(1, 2) .* [75, 40];
betaDist = abMin ./ alphaDist + rand(1, 2) .* (20 - abMin ./ alphaDist);
alphaDist = rand(1, 2) .* [75, 45];
betaDist = abMin ./ alphaDist + rand(1, 2) .* [1, 1/8] .* (20 - abMin ./ alphaDist);
alphaTilt = 10 + rand(1, 2) .* [20, 20];
betaTilt = abMin ./ alphaTilt + rand(1, 2) .* (50 - abMin ./ alphaTilt);
sensors = struct('alphaDist', num2cell(alphaDist), 'alphaTilt', num2cell(alphaTilt), 'betaDist', num2cell(betaDist), 'betaTilt', num2cell(betaTilt));
% sensor1 = sigmoidSensor;
% sensor2 = sigmoidSensor;
% sensor1 = sensor1.initialize(sensors(1).alphaDist, sensors(1).betaDist, sensors(1).alphaTilt, sensors(1).betaTilt);
% sensor2 = sensor2.initialize(sensors(2).alphaDist, sensors(2).betaDist, sensors(2).alphaTilt, sensors(2).betaTilt);
% sensor1.plotParameters;
% sensor2.plotParameters;
sensor1 = sigmoidSensor;
sensor2 = sigmoidSensor;
sensor1 = sensor1.initialize(sensors(1).alphaDist, sensors(1).betaDist, sensors(1).alphaTilt, sensors(1).betaTilt);
sensor2 = sensor2.initialize(sensors(2).alphaDist, sensors(2).betaDist, sensors(2).alphaTilt, sensors(2).betaTilt);
sensor1.plotParameters;
sensor2.plotParameters;
c = struct('A_1_alpha', struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(1), 'doubleIntegrator', false), ...
'A_1_beta', struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(1), 'doubleIntegrator', true), ...
'A_2_alpha', struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(2), 'doubleIntegrator', false), ...
'B_1_beta', struct('objectivePos', [[3, 1] / 4 .* results.domainSize(1:2); [3, 1] / 4 .* results.domainSize(1:2) + 12.5 .* [-1, 1] ./ sqrt(2)], 'sensor', sensors(1), 'doubleIntegrator', true));
'B_1_beta', struct('objectivePos', [[3, 1] / 4 .* results.domainSize(1:2); [3, 1] / 4 .* results.domainSize(1:2) + 25 .* [-1, 1] ./ sqrt(2)], 'sensor', sensors(1), 'doubleIntegrator', true));
end
end
@@ -105,7 +105,7 @@ classdef results < matlab.unittest.TestCase
for ii = 1:numDist
sig = [200, 140; 140, 280];
if ~mod(ii, 2)
sig = rot90(sig, 2);
sig = rot90(sig,2);
end
sig = reshape(sig, [1, 2, 2]);
objectiveSigma = cat(1, objectiveSigma, sig);
@@ -267,10 +267,13 @@ classdef results < matlab.unittest.TestCase
end
function AIIbeta_plots_3_4(tc)
% test-specific parameters
tc.makePlots = true;
tc.makeVideo = true;
maxIters = 400;
configs = results.makeConfigs();
c = configs.A_2_alpha;
c.doubleIntegrator = true; % make a2alpha into a2beta
% Set up fixed-size domain
minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);