37 lines
2.4 KiB
Matlab
37 lines
2.4 KiB
Matlab
function writeInits(obj)
|
|
arguments (Input)
|
|
obj (1, 1) {mustBeA(obj, "miSim")};
|
|
end
|
|
arguments (Output)
|
|
end
|
|
|
|
% Collect agent parameters
|
|
collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
|
|
alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
|
|
betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
|
|
alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
|
|
betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
|
|
comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
|
|
initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
|
|
pos = cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false));
|
|
obsMinCorners = cell2mat(cellfun(@(x) x.minCorner, obj.obstacles, 'UniformOutput', false));
|
|
obsMaxCorners = cell2mat(cellfun(@(x) x.maxCorner, obj.obstacles, 'UniformOutput', false));
|
|
|
|
% Combine with simulation parameters
|
|
inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), ...
|
|
"discretizationStep", obj.domain.objective.discretizationStep, "protectedRange", obj.domain.objective.protectedRange, ...
|
|
"sensorPerformanceMinimum", obj.domain.objective.sensorPerformanceMinimum, "initialStepSize", initialStepSize, ...
|
|
"barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", size(obj.obstacles, 1), ...
|
|
"numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, ...
|
|
"useDoubleIntegrator", obj.useDoubleIntegrator, "dampingCoeff", obj.dampingCoeff, ...
|
|
"alphaDist", alphaDist, "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
|
|
... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
|
|
"pos", pos, "objectivePos", obj.domain.objective.groundPos, "objectiveSigma", obj.domain.objective.objectiveSigma, ...
|
|
"obsMinCorners", obsMinCorners, "obsMaxCorners", obsMaxCorners, ...
|
|
"objectiveIntegral", sum(obj.domain.objective.values(:)));
|
|
|
|
% Save all parameters to output file
|
|
initsFile = strcat(obj.artifactName, "_miSimInits");
|
|
initsFile = fullfile(matlab.project.rootProject().RootFolder, "sandbox", initsFile);
|
|
save(initsFile, "-struct", "inits");
|
|
end |