From fe5f3bb2be573bf15f2a4687bcab7ab640bea66f Mon Sep 17 00:00:00 2001
From: Kevin D <krdee1@gmail.com>
Date: Mon, 17 Nov 2025 12:04:25 -0800
Subject: [PATCH] cleaned up plotting

---
 sensingModels/@sigmoidSensor/plotParameters.m | 32 +++++++++----------
 sensingModels/@sigmoidSensor/sigmoidSensor.m  |  2 +-
 test/test_miSim.m                             |  9 +++---
 3 files changed, 21 insertions(+), 22 deletions(-)

diff --git a/sensingModels/@sigmoidSensor/plotParameters.m b/sensingModels/@sigmoidSensor/plotParameters.m
index e59f64d..902caf4 100644
--- a/sensingModels/@sigmoidSensor/plotParameters.m
+++ b/sensingModels/@sigmoidSensor/plotParameters.m
@@ -20,25 +20,23 @@ function f = plotParameters(obj)
 
     % Distance
     nexttile(1, [1,  1]);
-    grid(f.Children(1).Children(1), "on");
-    title(f.Children(1).Children(1), "Distance Membership Sigmoid");
-    xlabel(f.Children(1).Children(1), "Distance (m)");
-    ylabel(f.Children(1).Children(1), "Membership");
-    hold(f.Children(1).Children(1), 'on');
-    plot(f.Children(1).Children(1), d, d_x, 'LineWidth', 2);
-    hold(f.Children(1).Children(1), 'off');
+    grid("on");
+    title("Distance Membership Sigmoid");
+    xlabel("Distance (m)");
+    ylabel("Membership");
+    hold('on');
+    plot(d, d_x, 'LineWidth', 2);
+    hold('off');
     ylim([0, 1]);
 
     % Tilt
     nexttile(2, [1,  1]);
-    grid(f.Children(1).Children(1), "on");
-    title(f.Children(1).Children(1), "Tilt Membership Sigmoid");
-    xlabel(f.Children(1).Children(1), "Tilt (deg)");
-    ylabel(f.Children(1).Children(1), "Membership");
-    hold(f.Children(1).Children(1), 'on');
-    plot(f.Children(1).Children(1), t, t_x, 'LineWidth', 2);
-    hold(f.Children(1).Children(1), 'off');
-
-
-    keyboard
+    grid("on");
+    title("Tilt Membership Sigmoid");
+    xlabel("Tilt (deg)");
+    ylabel("Membership");
+    hold('on');
+    plot(t, t_x, 'LineWidth', 2);
+    hold('off');
+    ylim([0, 1]);
 end
\ No newline at end of file
diff --git a/sensingModels/@sigmoidSensor/sigmoidSensor.m b/sensingModels/@sigmoidSensor/sigmoidSensor.m
index ab50816..b5bc4a3 100644
--- a/sensingModels/@sigmoidSensor/sigmoidSensor.m
+++ b/sensingModels/@sigmoidSensor/sigmoidSensor.m
@@ -13,7 +13,7 @@ classdef sigmoidSensor
         [obj]               = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt);
         [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning);
         [value]             = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos);
-        plotParameters(obj);
+        [f] = plotParameters(obj);
     end
     methods (Access = private)
         x = distanceMembership(obj, d);
diff --git a/test/test_miSim.m b/test/test_miSim.m
index 9986c88..f926809 100644
--- a/test/test_miSim.m
+++ b/test/test_miSim.m
@@ -356,6 +356,7 @@ classdef test_miSim < matlab.unittest.TestCase
             sensor = sigmoidSensor;
             % Homogeneous sensor model parameters
             sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3);
+            f = sensor.plotParameters();
             % Heterogeneous sensor model parameters
             % sensor = sensor.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));
 
@@ -365,10 +366,10 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, 2, sprintf("Agent %d", 2));
 
             % Optional third agent along the +Y axis
-            % geometry3 = rectangularPrism;
-            % geometry3 = geometry3.initialize([tc.domain.center - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
-            % tc.agents{3} = agent;
-            % tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
+            geometry3 = rectangularPrism;
+            geometry3 = geometry3.initialize([tc.domain.center - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
+            tc.agents{3} = agent;
+            tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
 
             % Initialize the simulation
             tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);