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reimplemented gradient ascent as central finite differences method

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This commit is contained in:
Kevin Dee
2026-01-11 12:42:48 -08:00
parent c47b7229ba
commit ec202d7790
12 changed files with 101 additions and 176 deletions
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49
@agent/initialize.m
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@@ -1,4 +1,4 @@
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, comRange, label, debug, plotCommsGeometry)
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, comRange, label, plotCommsGeometry)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'agent')};
pos (1, 3) double;
@@ -9,7 +9,6 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
sensorModel (1, 1) {mustBeSensor};
comRange (1, 1) double;
label (1, 1) string = "";
debug (1, 1) logical = false;
plotCommsGeometry (1, 1) logical = false;
end
arguments (Output)
@@ -23,57 +22,11 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
obj.collisionGeometry = collisionGeometry;
obj.sensorModel = sensorModel;
obj.label = label;
obj.debug = debug;
obj.plotCommsGeometry = plotCommsGeometry;
% Add spherical geometry based on com range
obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label));
if obj.debug
obj.debugFig = figure;
tiledlayout(obj.debugFig, "TileSpacing", "tight", "Padding", "compact");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Objective");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Sensor Performance");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Gradient Objective");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Gradient Sensor Performance");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Sensor Performance x Gradient Objective");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Gradient Sensor Performance x Objective");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Agent Performance (C)");
nexttile;
axes(obj.debugFig.Children(1).Children(1));
axis(obj.debugFig.Children(1).Children(1), "image");
xlabel(obj.debugFig.Children(1).Children(1), "X"); ylabel(obj.debugFig.Children(1).Children(1), "Y");
title(obj.debugFig.Children(1).Children(1), "Gradient Agent Performance (del C)");
end
% Initialize FOV cone
obj.fovGeometry = cone;
obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));