83 lines
3.2 KiB
Matlab
83 lines
3.2 KiB
Matlab
classdef sigmoidSensor
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properties (SetAccess = private, GetAccess = public)
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% Sensor parameters
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alphaDist = NaN;
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betaDist = NaN;
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alphaPan = NaN;
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betaPan = NaN;
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alphaTilt = NaN;
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betaTilt = NaN;
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r = NaN;
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end
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methods (Access = public)
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function obj = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}
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alphaDist (1, 1) double;
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betaDist (1, 1) double;
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alphaPan (1, 1) double;
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betaPan (1, 1) double;
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alphaTilt (1, 1) double;
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betaTilt (1, 1) double;
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end
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arguments (Output)
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obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}
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end
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obj.alphaDist = alphaDist;
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obj.betaDist = betaDist;
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obj.alphaPan = alphaPan;
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obj.betaPan = betaPan;
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obj.alphaTilt = alphaTilt;
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obj.betaTilt = betaTilt;
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obj.r = obj.alphaDist;
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end
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function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'sigmoidSensor')};
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agent (1, 1) {mustBeA(agent, 'agent')};
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sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
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domain (1, 1) {mustBeGeometry};
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partitioning (:, :) double;
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end
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arguments (Output)
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values (:, 1) double;
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positions (:, 3) double;
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end
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% Find positions for this agent's assigned partition in the domain
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idx = partitioning == agent.index;
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positions = [sensingObjective.X(idx), sensingObjective.Y(idx), zeros(size(sensingObjective.X(idx)))];
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% Evaluate objective function at every point in this agent's
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% assigned partiton
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values = sensingObjective.values(idx);
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end
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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);
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panAngle = atan2(targetPos(:, 2) - agentPos(2), targetPos(:, 1) - agentPos(1)) - agentPan;
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tiltAngle = atan2(targetPos(:, 3) - agentPos(3), d) - agentTilt;
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% Membership functions
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mu_d = 1 - (1 ./ (1 + exp(-obj.betaDist .* (d - obj.alphaDist)))); % distance
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mu_p = (1 ./ (1 + exp(-obj.betaPan .* (panAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (panAngle - obj.alphaPan)))); % pan
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mu_t = (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle - obj.alphaPan)))); % tilt
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value = mu_d .* mu_p .* mu_t * 1e12;
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end
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end
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end |