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per-UAV parameters

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This commit is contained in:
Kevin Dee
2026-03-03 16:18:07 -08:00
parent 252423eb29
commit fe7b1b2ed3
13 changed files with 171 additions and 83 deletions
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21
test/parametricTestSuite.m
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@@ -30,7 +30,7 @@ classdef parametricTestSuite < matlab.unittest.TestCase
function test_AERPAW_scenario(tc)
% Load scenario definition
tc.csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
params = tc.testClass.readScenarioCsv(tc.csvPath);
params = readScenarioCsv(tc.csvPath);
% Define scenario according to CSV specification
tc.domain = tc.domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
@@ -41,16 +41,20 @@ classdef parametricTestSuite < matlab.unittest.TestCase
agents{ii} = agent;
sensorModel = sigmoidSensor;
sensorModel = sensorModel.initialize(params.alphaDist, params.betaDist, params.alphaTilt, params.betaTilt);
sensorModel = sensorModel.initialize(params.alphaDist(ii), params.betaDist(ii), params.alphaTilt(ii), params.betaTilt(ii));
collisionGeometry = spherical;
collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius, REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange, params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), tc.plotCommsGeometry);
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), tc.plotCommsGeometry);
end
% TODO
obstacles = {};
% Create obstacles
obstacles = cell(params.numObstacles, 1);
for ii = 1:size(obstacles, 1)
obstacles{ii} = rectangularPrism;
obstacles{ii} = obstacles{ii}.initialize([params.obstacleMin((((ii - 1) * 3) + 1):(ii * 3)); params.obstacleMax((((ii - 1) * 3) + 1):(ii * 3))], "OBSTACLE", sprintf("Obstacle %d", ii));
end
% Set up simulation
tc.testClass = tc.testClass.initialize(tc.domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, tc.makePlots, tc.makeVideo);
@@ -60,13 +64,10 @@ classdef parametricTestSuite < matlab.unittest.TestCase
% Run
tc.testClass = tc.testClass.run();
% Cleanup
tc.testClass = tc.testClass.teardown();
end
function csv_parametric_tests_random_agents(tc)
% Read in parameters to iterate over
params = tc.testClass.readScenarioCsv(tc.csvPath);
params = readScenarioCsv(tc.csvPath);
% Test case setup
l = 10; % domain size