33 lines
1.1 KiB
Matlab
33 lines
1.1 KiB
Matlab
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label)
|
|
arguments (Input)
|
|
obj (1, 1) {mustBeA(obj, 'agent')};
|
|
pos (1, 3) double;
|
|
vel (1, 3) double;
|
|
pan (1, 1) double;
|
|
tilt (1, 1) double;
|
|
collisionGeometry (1, 1) {mustBeGeometry};
|
|
sensorModel (1, 1) {mustBeSensor}
|
|
guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')};
|
|
comRange (1, 1) double = NaN;
|
|
index (1, 1) double = NaN;
|
|
label (1, 1) string = "";
|
|
end
|
|
arguments (Output)
|
|
obj (1, 1) {mustBeA(obj, 'agent')};
|
|
end
|
|
|
|
obj.pos = pos;
|
|
obj.vel = vel;
|
|
obj.pan = pan;
|
|
obj.tilt = tilt;
|
|
obj.collisionGeometry = collisionGeometry;
|
|
obj.sensorModel = sensorModel;
|
|
obj.guidanceModel = guidanceModel;
|
|
obj.comRange = comRange;
|
|
obj.index = index;
|
|
obj.label = label;
|
|
|
|
% 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));
|
|
end |