runBehaviorBasedNoisyMapping.m

%% a test script for simulator class
clear all;
close all;
% generate map for the simulation
size = 15;
resolution = 10;
numObstacles = 8;
space = 5;
filter_on = true;
%p = zeros(size*resolution);
map_gen = MapGenerate(size,size,space,resolution);
[p,map_gen] = map_gen.addBounds(2);
for i = 1:numObstacles
    %p = add_random_circle(p);
    [p,map_gen] = map_gen.addRandomObstacle(1.0,0.5);
end
map = binaryOccupancyMap(p,resolution);

%% specify some parameters
numRobots = 3;
numSensors = 20;
sensorRange = 5;
showTraj = false;
initial_poses = 5*(rand(3,numRobots).*[0.5;0.5;0]) + [0.5;0.5;0];
robotInfos = cell(1,numRobots);
for i = 1:numRobots
    t = "DiffDrive"; % differential drive dynamics
    R = 0.1; 
    L = 0.5;
    s = numSensors;
    r = sensorRange;
    show = showTraj;
    robotInfo = RobotInfo(t,R,L,s,r);
    robotInfos{i} = robotInfo;
end
swarmInfo = SwarmInfo(numRobots,robotInfos,initial_poses,false);
%% virtual structure simulation
sim = BehaviorBasedMappingNoisySimulation(map,swarmInfo,filter_on);
for i = 1:800
    sim = sim.step();
    axis([0 15 0 15])
    %pause(0.02);
    points = sim.mapper.points;
    figure(2);
    scatter(points(:,1),points(:,2));
    axis([0 15 0 15])
end