started unit test for sigmoid sensor performance fcns

test/test_sigmoidSensor.m

@@ -0,0 +1,50 @@
+classdef test_sigmoidSensor < matlab.unittest.TestCase
+    properties (Access = private)
+        % System under test
+        testClass = sigmoidSensor;
+
+        % Domain
+        domain = rectangularPrism;
+
+        % Sensor parameter ranges
+        betaDistMin = 3;
+        betaDistMax = 15;
+        betaTiltMin = 3;
+        betaTiltMax = 15;
+        alphaDistMin = 2.5;
+        alphaDistMax = 3;
+        alphaTiltMin = deg2rad(15);
+        alphaTiltMax = deg2rad(30);
+    end
+
+    methods (TestMethodSetup)
+        function tc = setup(tc)
+            % Reinitialize sensor with random parameters
+            tc.testClass = sigmoidSensor;
+            tc.testClass = tc.testClass.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
+        end
+    end
+
+    methods (Test)
+        % Test methods
+        function test_sensorPerformance(tc)
+            tc.testClass = sigmoidSensor;
+            alphaDist = 2.5;
+            betaDist = 3;
+            alphaTilt = deg2rad(15);
+            betaTilt = 3;
+            tc.testClass = tc.testClass.initialize(alphaDist, betaDist, NaN, NaN, alphaTilt, betaTilt);
+
+            % Performance at current position should be maximized (1)
+            % some wiggle room is needed for certain parameter conditions,
+            % e.g. small alphaDist and betaDist produce mu_d slightly < 1
+            tc.verifyEqual(tc.testClass.sensorPerformance(zeros(1, 3), NaN, 0, zeros(1, 3)), 1, 'AbsTol', 1e-3); 
+            % It looks like mu_t can max out at really low values like 0.37
+            % when alphaTilt and betaTilt are small, which seems wrong
+
+            % Performance at distance alphaDist should be 1/2
+            tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, alphaDist], NaN, 0, [0, 0, 0]), 1/2, 'AbsTol', 1e-3);
+        end
+    end
+
+end