34 lines
1.9 KiB
Matlab
34 lines
1.9 KiB
Matlab
function scenario = readScenarioCsv(obj, csvPath)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'miSim')};
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csvPath (1, 1) string;
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end
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arguments (Output)
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scenario struct;
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end
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% File input validation
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assert(isfile(csvPath), "%s is not a valid filepath.");
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assert(endsWith(csvPath, ".csv"), "%s is not a CSV file.");
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% Read file
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csv = readtable(csvPath, "TextType", "String", "NumHeaderLines", 0, "VariableNamingRule", "Preserve");
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csv.Properties.VariableNames = ["timestep", "maxIter", "minAlt", "discretizationStep", "protectedRange", "sensorPerformanceMinimum", "initialStepSize", "barrierGain", "barrierExponent", "numObstacles", "numAgents", "collisionRadius", "comRange", "alphaDist", "betaDist", "alphaTilt", "betaTilt"];
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for ii = 1:size(csv.Properties.VariableNames, 2)
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csv.(csv.Properties.VariableNames{ii}) = cell2mat(cellfun(@(x) str2num(x), csv.(csv.Properties.VariableNames{ii}), "UniformOutput", false));
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end
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% Put params into standard structure
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scenario = struct("timestep", csv.timestep, "maxIter", csv.maxIter, "minAlt", csv.minAlt, "discretizationStep", csv.discretizationStep, ...
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"protectedRange", csv.protectedRange, "sensorPerformanceMinimum", csv.sensorPerformanceMinimum, "initialStepSize", csv.initialStepSize, ...
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"barrierGain", csv.barrierGain, "barrierExponent", csv.barrierExponent, "numObstacles", csv.numObstacles,...
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"numAgents", csv.numAgents, "collisionRadius", csv.collisionRadius, "comRange", csv.comRange, "alphaDist", csv.alphaDist, ...
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"betaDist", csv.betaDist, "alphaTilt", csv.alphaTilt, "betaTilt", csv.betaTilt);
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% size check
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fns = fieldnames(scenario);
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for ii = 2:size(fns, 1)
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assert(size(scenario.(fns{ii}), 1) == size(scenario.(fns{ii - 1}), 1), "Mismatched number of rows in scenario definition CSV");
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end
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end |