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started unit test for sigmoid sensor performance fcns

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Kevin D
2025-11-16 23:30:15 -08:00
parent e53b721f34
commit f50e3e2832
5 changed files with 60 additions and 1 deletions
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resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/AmJAKvt15XQGz6JdpTsYHCBwsj0d.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info>
<Category UUID="FileClassCategory">
<Label UUID="test"/>
</Category>
</Info>

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resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/AmJAKvt15XQGz6JdpTsYHCBwsj0p.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="test_sigmoidSensor.m" type="File"/>

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test/test_miSim.m
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classdef test_miSim < matlab.unittest.TestCase classdef test_miSim < matlab.unittest.TestCase
properties (Access = private) properties (Access = private)
% System under test
testClass = miSim; testClass = miSim;
% Sim % Sim

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test/test_sigmoidSensor.m Normal file
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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