43 lines
1.5 KiB
Matlab
43 lines
1.5 KiB
Matlab
function obj = initializeWithValues(obj, values, domain, discretizationStep, protectedRange, sensorPerformanceMinimum)
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arguments (Input)
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obj (1,1) {mustBeA(obj, "sensingObjective")};
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values (:,:) double;
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domain (1, 1) {mustBeGeometry};
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discretizationStep (1, 1) double = 1;
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protectedRange (1, 1) double = 1;
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sensorPerformanceMinimum (1, 1) double = 1e-6;
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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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obj.discretizationStep = discretizationStep;
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obj.sensorPerformanceMinimum = sensorPerformanceMinimum;
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obj.protectedRange = protectedRange;
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% Extract footprint limits
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xMin = min(domain.footprint(:, 1));
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xMax = max(domain.footprint(:, 1));
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yMin = min(domain.footprint(:, 2));
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yMax = max(domain.footprint(:, 2));
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xGrid = unique([xMin:obj.discretizationStep:xMax, xMax]);
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yGrid = unique([yMin:obj.discretizationStep:yMax, yMax]);
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% Store grid points
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[obj.X, obj.Y] = meshgrid(xGrid, yGrid);
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% Use pre-computed values (caller must evaluate on same grid)
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obj.values = reshape(values, size(obj.X));
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% Normalize
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obj.values = obj.values ./ max(obj.values, [], "all");
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% Store ground position (peak of objective)
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idx = obj.values == 1;
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obj.groundPos = [obj.X(idx), obj.Y(idx)];
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obj.groundPos = obj.groundPos(1, 1:2);
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assert(domain.distance([obj.groundPos, domain.center(3)]) > protectedRange, "Domain is crowding the sensing objective")
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end
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