53 lines
2.0 KiB
Matlab
53 lines
2.0 KiB
Matlab
classdef test_sigmoidSensor < matlab.unittest.TestCase
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properties (Access = private)
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% System under test
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testClass = sigmoidSensor;
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% Domain
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domain = rectangularPrism;
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% Sensor parameter ranges
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betaDistMin = 3;
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betaDistMax = 15;
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betaTiltMin = 3;
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betaTiltMax = 15;
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alphaDistMin = 2.5;
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alphaDistMax = 3;
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alphaTiltMin = 15; % degrees
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alphaTiltMax = 30; % degrees
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end
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methods (TestMethodSetup)
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function tc = setup(tc)
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% Reinitialize sensor with random parameters
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tc.testClass = sigmoidSensor;
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tc.testClass = tc.testClass.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
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end
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end
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methods (Test)
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% Test methods
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function test_sensorPerformance(tc)
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tc.testClass = sigmoidSensor;
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alphaDist = 2.5;
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betaDist = 3;
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alphaTilt = 15; % degrees
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betaTilt = 3;
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tc.testClass = tc.testClass.initialize(alphaDist, betaDist, NaN, NaN, alphaTilt, betaTilt);
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% Plot
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tc.testClass.plotParameters();
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% Performance at current position should be maximized (1)
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% some wiggle room is needed for certain parameter conditions,
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% e.g. small alphaDist and betaDist produce mu_d slightly < 1
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tc.verifyEqual(tc.testClass.sensorPerformance(zeros(1, 3), NaN, 0, zeros(1, 3)), 1, 'AbsTol', 1e-3);
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% It looks like mu_t can max out at really low values like 0.37
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% when alphaTilt and betaTilt are small, which seems wrong
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% Performance at distance alphaDist should be 1/2
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tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, alphaDist], NaN, 0, [0, 0, 0]), 1/2, 'AbsTol', 1e-3);
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end
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end
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end |