66 lines
2.9 KiB
Matlab
66 lines
2.9 KiB
Matlab
%% Plot AERPAW logs (trajectory, radio)
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resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t1"); % Define path to results copied from AERPAW platform
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% Plot GPS logged data and scenario information (domain, objective, obstacles)
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seaToGroundLevel = 110; % measured approximately from USGS national map viewer
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[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel);
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% Plot radio statistics
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[fRadio, R] = plotRadioLogs(resultsPath);
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%% Run simulation
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% Run miSim using same AERPAW scenario definition CSV
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csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
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params = readScenarioCsv(csvPath);
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% Visualization settings
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plotCommsGeometry = false;
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makePlots = true;
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makeVideo = true;
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% Define scenario according to CSV specification
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domain = rectangularPrism;
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domain = domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
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domain.objective = domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, reshape(params.objectiveVar, [2 2])), domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
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agents = cell(size(params.initialPositions, 2) / 3, 1);
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for ii = 1:size(agents, 1)
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agents{ii} = agent;
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sensorModel = sigmoidSensor;
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sensorModel = sensorModel.initialize(params.alphaDist(ii), params.betaDist(ii), params.alphaTilt(ii), params.betaTilt(ii));
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collisionGeometry = spherical;
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collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
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agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), plotCommsGeometry);
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end
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% Create obstacles
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obstacles = cell(params.numObstacles, 1);
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for ii = 1:size(obstacles, 1)
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obstacles{ii} = rectangularPrism;
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obstacles{ii} = obstacles{ii}.initialize([params.obstacleMin((((ii - 1) * 3) + 1):(ii * 3)); params.obstacleMax((((ii - 1) * 3) + 1):(ii * 3))], "OBSTACLE", sprintf("Obstacle %d", ii));
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end
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% Set up simulation
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sim = miSim;
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sim = sim.initialize(domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, makePlots, makeVideo);
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% Save simulation parameters to output file
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sim.writeInits();
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% Run
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sim = sim.run();
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%% Plot AERPAW trajectory logs onto simulated result for comparison
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% Duplicate plot to overlay with logged trajectories
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comparison = figure;
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copyobj(sim.f.Children, comparison);
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% Plot trajectories on top
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hold(comparison.Children.Children(end), "on");
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for ii = 1:size(G, 1)
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plot3(comparison.Children(1).Children(end), G{ii}.East, G{ii}.North, G{ii}.Up + seaToGroundLevel, 'Color', 'r', 'LineWidth', 1);
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end
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hold(comparison.Children.Children(end), "off"); |