27 lines
870 B
Matlab
27 lines
870 B
Matlab
function obj = initializeRandomMvnpdf(obj, domain, protectedRange, discretizationStep)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'sensingObjective')};
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domain (1, 1) {mustBeGeometry};
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protectedRange (1, 1) double = 1;
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discretizationStep (1, 1) double = 1;
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end
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arguments (Output)
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obj (1, 1) {mustBeA(obj, 'sensingObjective')};
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end
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% Set random objective position
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mu = domain.minCorner;
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while domain.distance(mu) < protectedRange
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mu = domain.random();
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end
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mu = mu(1:2);
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% Set random distribution parameters
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sig = [2 + rand * 2, 1; 1, 2 + rand * 2];
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% Set up random bivariate normal distribution function
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objectiveFunction = @(x, y) mvnpdf([x(:), y(:)], mu, sig);
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% Regular initialization
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obj = obj.initialize(objectiveFunction, domain, discretizationStep);
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end |