38 lines
1.4 KiB
Matlab
38 lines
1.4 KiB
Matlab
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, comRange, maxIter, label, plotCommsGeometry)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'agent')};
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pos (1, 3) double;
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vel (1, 3) double;
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pan (1, 1) double;
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tilt (1, 1) double;
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collisionGeometry (1, 1) {mustBeGeometry};
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sensorModel (1, 1) {mustBeSensor};
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comRange (1, 1) double;
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maxIter (1, 1) double;
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label (1, 1) string = "";
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plotCommsGeometry (1, 1) logical = false;
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end
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arguments (Output)
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obj (1, 1) {mustBeA(obj, 'agent')};
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end
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obj.pos = pos;
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obj.vel = vel;
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obj.pan = pan;
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obj.tilt = tilt;
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obj.collisionGeometry = collisionGeometry;
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obj.sensorModel = sensorModel;
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obj.label = label;
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obj.plotCommsGeometry = plotCommsGeometry;
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obj.stepDecayRate = obj.initialStepSize / maxIter;
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% Initialize performance vector
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obj.performance = [0, NaN(1, maxIter), 0];
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% Add spherical geometry based on com range
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obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label));
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% Initialize FOV cone
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obj.fovGeometry = cone;
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obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:3)], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
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end |