23 lines
963 B
Matlab
23 lines
963 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 = atan2(targetPos(:, 3) - agentPos(3), x) - 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; % pan
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mu_t = (1 ./ (1 + exp(-obj.betaTilt .* (tiltAngle + obj.alphaTilt)))) - (1 ./ (1 + exp(-obj.betaTilt .* (tiltAngle - obj.alphaTilt)))); % tilt
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value = mu_d .* mu_p .* mu_t;
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end |