86 lines
3.2 KiB
Matlab
86 lines
3.2 KiB
Matlab
classdef sensingObjective
|
|
% Sensing objective definition parent class
|
|
properties (SetAccess = private, GetAccess = public)
|
|
label = "";
|
|
groundAlt = 0;
|
|
groundPos = [0, 0];
|
|
discretizationStep = 1;
|
|
objectiveFunction = @(x, y) 0; % define objective functions over a grid in this manner
|
|
X = [];
|
|
Y = [];
|
|
values = [];
|
|
end
|
|
|
|
methods (Access = public)
|
|
function obj = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep)
|
|
arguments (Input)
|
|
obj (1,1) {mustBeA(obj, 'sensingObjective')};
|
|
objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
|
|
footprint (:, 2) double;
|
|
groundAlt (1, 1) double = 0;
|
|
discretizationStep (1, 1) double = 1;
|
|
end
|
|
arguments (Output)
|
|
obj (1,1) {mustBeA(obj, 'sensingObjective')};
|
|
end
|
|
|
|
obj.groundAlt = groundAlt;
|
|
|
|
% Extract footprint limits
|
|
xMin = min(footprint(:, 1));
|
|
xMax = max(footprint(:, 1));
|
|
yMin = min(footprint(:, 2));
|
|
yMax = max(footprint(:, 2));
|
|
|
|
xGrid = unique([xMin:discretizationStep:xMax, xMax]);
|
|
yGrid = unique([yMin:discretizationStep:yMax, yMax]);
|
|
|
|
% Store grid points for plotting later
|
|
[obj.X, obj.Y] = meshgrid(xGrid, yGrid);
|
|
|
|
% Evaluate function over grid points
|
|
obj.objectiveFunction = objectiveFunction;
|
|
obj.values = reshape(obj.objectiveFunction(obj.X, obj.Y), size(obj.X));
|
|
|
|
% store ground position
|
|
idx = obj.values == max(obj.values, [], "all");
|
|
obj.groundPos = [obj.X(idx), obj.Y(idx)];
|
|
end
|
|
function f = plot(obj, ind, f)
|
|
arguments (Input)
|
|
obj (1,1) {mustBeA(obj, 'sensingObjective')};
|
|
ind (1, :) double = NaN;
|
|
f (1,1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
|
|
end
|
|
arguments (Output)
|
|
f (1,1) {mustBeA(f, 'matlab.ui.Figure')};
|
|
end
|
|
|
|
% Create axes if they don't already exist
|
|
f = firstPlotSetup(f);
|
|
|
|
% Plot gradient on the "floor" of the domain
|
|
if isnan(ind)
|
|
hold(f.CurrentAxes, "on");
|
|
o = surf(f.CurrentAxes, obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
|
|
o.HitTest = 'off';
|
|
o.PickableParts = 'none';
|
|
hold(f.CurrentAxes, "off");
|
|
|
|
else
|
|
hold(f.Children(1).Children(ind(1)), "on");
|
|
o = surf(f.Children(1).Children(ind(1)), obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
|
|
o.HitTest = 'off';
|
|
o.PickableParts = 'none';
|
|
hold(f.Children(1).Children(ind(1)), "off");
|
|
end
|
|
|
|
% Add to other perspectives
|
|
if size(ind, 2) > 1
|
|
for ii = 2:size(ind, 2)
|
|
copyobj(o, f.Children(1).Children(ind(ii)));
|
|
end
|
|
end
|
|
end
|
|
end
|
|
end |