22 lines
841 B
Matlab
22 lines
841 B
Matlab
function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
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agentPos (1, 3) double;
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agentPan (1, 1) double;
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agentTilt (1, 1) double;
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targetPos (:, 3) double;
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end
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arguments (Output)
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value (:, 1) double;
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end
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d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target
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x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2); % distance from sensor nadir to target nadir (i.e. distance ignoring height difference)
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tiltAngle = (180 - atan2d(x, targetPos(:, 3) - agentPos(3))) - agentTilt; % degrees
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% Membership functions
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mu_d = obj.distanceMembership(d);
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mu_t = obj.tiltMembership(tiltAngle);
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value = mu_d .* mu_t; % assume pan membership is always 1
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end |