66 lines
2.7 KiB
Matlab
66 lines
2.7 KiB
Matlab
classdef parametricTestSuite < matlab.unittest.TestCase
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properties (Access = private)
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% System under test
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testClass = miSim;
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domain = rectangularPrism;
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obstacles = cell(1, 0);
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%% Diagnostic Parameters
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% No effect on simulation dynamics
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timestep = 1;
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makeVideo = true; % disable video writing for big performance increase
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makePlots = true; % disable plotting for big performance increase (also disables video)
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plotCommsGeometry = false; % disable plotting communications geometries
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protectedRange = 0;
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end
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properties (TestParameter)
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%% Simulation Parameters
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maxIter = num2cell([25]); % number of timesteps to run
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% Domain parameters
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minAlt = num2cell([1]); % minimum allowed agent altitude, make sure test cases don't conflict with this
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% Sensing Objective Parameters
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discretizationStep = num2cell([0.01]);
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% Agent Parameters
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collisionRadius = num2cell([0.1]);
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% Sensor Model Parameters
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alphaDist = num2cell([2.5, 5]);
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betaDist = num2cell([3, 15]);
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alphaTilt = num2cell([15, 30]); % (degrees)methods
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betaTilt = num2cell([3, 15]);
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% Communications Parameters
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comRange = num2cell([3]);
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end
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methods (Test, ParameterCombination = "exhaustive")
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% Test cases
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function single_agent_gradient_ascent(tc, maxIter, minAlt, discretizationStep, collisionRadius, alphaDist, betaDist, alphaTilt, betaTilt, comRange)
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% Set up square domain
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l = 10;
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tc.domain = tc.domain.initialize([zeros(1, 3); l * ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
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tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([.75 * l, 0.75 * l]), tc.domain, discretizationStep, tc.protectedRange);
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% Set up agent
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sensorModel = sigmoidSensor;
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sensorModel = sensorModel.initialize(alphaDist, betaDist, alphaTilt, betaTilt);
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agentPos = [l/4, l/4, 3*l/4];
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collisionGeometry = spherical;
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collisionGeometry = collisionGeometry.initialize(agentPos, collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Region");
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agents = {agent};
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agents{1} = agents{1}.initialize(agentPos, collisionGeometry, sensorModel, comRange, maxIter, "Agent 1", tc.plotCommsGeometry);
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% Set up simulation
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tc.testClass = tc.testClass.initialize(tc.domain, agents, minAlt, tc.timestep, maxIter, tc.obstacles, tc.makePlots, tc.makeVideo);
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% Run
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tc.testClass = tc.testClass.run();
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% Cleanup
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tc.testClass.teardown();
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end
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end
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end |