INITIALIZESENSORS - initialize sensors
0504 -RS- initializes stucts that are used to represent sensors
0511 -RJ- changes to the structure of the sensor struct (e.g.,
added field home_base)
0520 -RJ- changed initial time_to_target from 0 to NaN
0527 -RJ- removed unnecessary code line, and added
detection_model
0529 -RJ- added support for alternative sensordata files
2004-12-20 - RJ - changed some comments and added 'plan' field to
sensor struct
2005-01-19 - RJ - changed field plan to sensor_plan
2005-02-09 - RJ - added print output
------------------------load sensorData----------------------------0001 function [sensor, noOfSensors] = initializeSensors(varargin); 0002 % INITIALIZESENSORS - initialize sensors 0003 % 0004 % 0504 -RS- initializes stucts that are used to represent sensors 0005 % 0511 -RJ- changes to the structure of the sensor struct (e.g., 0006 % added field home_base) 0007 % 0520 -RJ- changed initial time_to_target from 0 to NaN 0008 % 0527 -RJ- removed unnecessary code line, and added 0009 % detection_model 0010 % 0529 -RJ- added support for alternative sensordata files 0011 % 2004-12-20 - RJ - changed some comments and added 'plan' field to 0012 % sensor struct 0013 % 2005-01-19 - RJ - changed field plan to sensor_plan 0014 % 2005-02-09 - RJ - added print output 0015 % 0016 %------------------------load sensorData---------------------------- 0017 0018 if nargin == 0 0019 load sensorData; 0020 elseif nargin == 1 0021 if isa(varargin{1}, 'char') == 1 0022 load(varargin{1}); 0023 else 0024 error('Please supply a sensor data filename') 0025 end 0026 else 0027 error('Too many input arguments!'); 0028 end 0029 % UAV_Mx = [pos_UAV1; .. ; pos_UAVn]; Marc_Mx = [Marc_1; .., Marc_n]; 0030 0031 % SENSOR STRUCT 0032 % id - sensor name (string) 0033 % type - sensor type (string) 0034 % available - available resource or not 0035 % pos - the current position of the sensor (1x2 numeric) 0036 % max_speed - maximum allowed speed for this sensor platform 0037 % cost - the cost of using the sensor per timestep 0038 % time_to_target - the number of timesteps until detection 0039 % (obsolete) 0040 % target_id - the name of the target the sensor is looking for 0041 % (should be unnecessary and managed by service) 0042 % (string) 0043 % home_base - the position of the home base of the sensors (2x1 0044 % numeric) 0045 % detection_model - to apply to check if a sensor can detect a 0046 % target 0047 % range - (momentanous) detection range of the 0048 % sensor; beyond this range the service is 0049 % not expected to detect anything 0050 % sensor_plan - the plan of a sensor; is sensor dependent (for a UAV this 0051 % may be a matrix of planned observation points) 0052 %------------------------------------------------------------------- 0053 0054 [noOfUAVs dummy] = size(UAV_Mx); 0055 [noOfMarcus dymmy] = size(Marc_Mx); 0056 uav_detection_model = @uav_detection_func; 0057 markus_detection_model = @markus_detection_func; 0058 0059 UAV_range = 25; 0060 Markus_range = 10; 0061 0062 sensor = struct('id',{}, 'type', {}, 'available',{},'pos',{}, ... 0063 'max_speed',{},'cost',{}, 'time_to_target', {}, ... 0064 'target_id',{}, 'home_base', {}, 'detection_model', ... 0065 {}, 'range', {}, 'sensor_plan', {}); 0066 for UAV_id = 1:noOfUAVs 0067 sensor(UAV_id) = struct('id',['UAV' num2str(UAV_id)], 'type', ... 0068 'UAV', 'available',1,'pos', ... 0069 UAV_Mx(UAV_id,:),'max_speed', ... 0070 20,'cost', UAV_cost , 'time_to_target', ... 0071 nan, 'target_id',['none'], 'home_base', ... 0072 UAV_Mx(UAV_id,:), 'detection_model', ... 0073 uav_detection_model, 'range', UAV_range, ... 0074 'sensor_plan', []); 0075 end; 0076 0077 for Marc_id = 1:noOfMarcus 0078 sensor(Marc_id + noOfUAVs) = struct('id',['Markus' num2str(Marc_id)], ... 0079 'type', 'Markus', ... 0080 'available',1,'pos', ... 0081 Marc_Mx(Marc_id,:),'max_speed', ... 0082 1,'cost', Marc_cost , ... 0083 'time_to_target', nan, ... 0084 'target_id',['none'], ... 0085 'home_base', Marc_Mx(Marc_id,:), ... 0086 'detection_model', ... 0087 markus_detection_model, 'range', Markus_range, 'sensor_plan', []); 0088 end; 0089 0090 noOfSensors = noOfUAVs + noOfMarcus; 0091 0092 global verbose 0093 if verbose 0094 noOfSensors 0095 UAV_range 0096 uav_detection_model 0097 Markus_range 0098 markus_detection_model 0099 end 0100 0101