EXAMPLE6templateMarking.m

%This is an example of how your work will be marked.

%IMPORTANT: You you need finish the function localise.m (a template has
%been provided for this example)

%Your localise.m function will be called for a variety of maps and targets.
%The localisation will be repeated several times for each map and an average
%score will be calculated. An average of all the scores for all the maps
%will give a total score for the simulation section of the assignment.

%The admin key is set outside of your function so you will not be able to
%access the debug functionality of the BotSim class.  Test your function
%works in this example.  If your function does not work in this example,
%you will get 0 marks.

%The final marking code will be different to this example, but if your
%function works in this example it will work in the final marking code.

%%setup
clf;        %clears figures
clc;        %clears console
clear;      %clears workspace
axis equal; %keeps the x and y scale the same

%More maps will be used
maps = cell(3,1); %needed for making jagged arrays
% maps{1} = [0,0;60,0;60,45;45,45]; %Quadrilateral Map
maps{1} = [0,0;60,0;60,45;45,45;45,59;106,59;106,105;0,105]; %default map
maps{2} = [0,0;60,0;60,50;100,50;70,0;110,0;150,80;30,80;30,40;0,80]; %long map
maps{3} = [-30,0;-30,40;30,40;30,60;5,60;45,90;85,60;60,60;60,40;120,40;120,60;95,60;135,90;175,60;150,60;150,40;210,40;210,60;185,60;225,90;265,60;240,60;240,40;300,40;300,0]; %repeated features

%Different noise levels to be tested
noiseLevel(:,1) = [0,0,0]; %no noise
%noiseLevel(:,2) = [1,0.001,0.0005]; %all the noise

%The number of time the function is run so that the average performance can
%be calculated. This will be much larger during real marking.
%if the value is 1 it will run from predefined start and target positions
%If the number is greater than 1, the first test will be from predefined
%positions, and the rest will be randomised.
numberOfrepeats = 10;

%Predefined start and target positions
startPositions =  [20,20;30,20;50,70 ]; %These will change
targetPositions = [80,80;100,20;230,70]; %These will change

adminKey = rand(1); %During marking another key will be used ;)

resultsTime = zeros(size(maps,1),size(noiseLevel,3),numberOfrepeats);
resultsDis = resultsTime;
resultsLength = resultsTime;
resultsCollision = resultsTime;
disp('checking BotSim.m checksum...')
if(strcmp(md5(strcat(pwd,'\BotSim.m')), 'B0C6C4418E11B8D362DA430B938502BE') ==0)
    disp('BotSim.m checksum failed to match.  Please replace with an umodified copy')
else
    disp('marking...')
    
    %% marking
    for i = 1:size(maps,1)
        for j=1:size(noiseLevel,2)
            fprintf('map %0.f\t noiseLevels %0.f \n',i,j);
            for k = 1:numberOfrepeats
                clf;        %clears figures
                botSim = BotSim(maps{i},noiseLevel(:,j),adminKey);  %sets up botSim object with adminKey
                
                if k ==1 %runs from preset start and target positions first time, after that choose random positions
                    botSim.setBotPos(startPositions(i,:),adminKey)
                    target = targetPositions(i,:);
                else
                    botSim.randomPose(10); %puts the robot in a random position at least 10cm away from a wall
                    target = botSim.getRndPtInMap(10)  %gets random target
                end
                botSim.drawMap();
                botSim.drawBot(3);
                plot(target(1),target(2),'*');
                hold off;
                drawnow;
                
                tic %starts timer
                %calls your (hopefully finished) localisation function
                
                returnedBot = localise(botSim,maps{i},target);
                
                %results calculation
                resultsTime(i,j,k) = toc; %stops timer
                resultsDis(i,j,k) =  distance(target, returnedBot.getBotPos(adminKey));
                path = returnedBot.getBotPath(adminKey);             
                pathLength = 0;
                collided = 0;
                
                %% Calculate path length and if bot collides
                if size(path,1) >0
                    for m = 1:size(path,1)-1
                        if ~botSim.pointInsideMap(path(m,:))
                            collided = 1;
                        end
                        pathLength = pathLength + distance(path(m,:),path(m+1,:));
                    end
                    if ~botSim.pointInsideMap(path(size(path,1),:))
                        collided = 1;
                    end
                end
                
                %% collate and print results
                resultsLength(i,j,k) = pathLength;
                resultsCollision(i,j,k) = collided;
                fprintf('Time: %.3f, Distance: %.3f, Length: %.3f, Collision: %.0f\n',resultsTime(i,j,k), resultsDis(i,j,k),pathLength,collided);
            end
            disp(' ');
        end
    end
    
    %% Calculate average scores
    %meanCompletionTime = mean(resultsTime(3,:))
    %sdCompletionTime = std(resultsTime(3,:))
    %meanDisFromTgt = mean(resultsDis(3,:))
    %stdDisFromTgt = std(resultsDis(3,:))
    averageCompletionTime = sum(sum(resultsTime,3)/numberOfrepeats,2)/size(noiseLevel,2);
    averageDisFromTgt = sum(sum(resultsDis,3)/numberOfrepeats,2)/size(noiseLevel,2);
    averagePathLength = sum(sum(resultsLength,3)/numberOfrepeats,2)/size(noiseLevel,2);
    percentCollision = sum(sum(resultsCollision,3)/numberOfrepeats,2)/size(noiseLevel,2);
    
    compiledResults = [averageCompletionTime averageDisFromTgt averagePathLength percentCollision];
    
    ResultsTable = table(averageCompletionTime, averageDisFromTgt, averagePathLength, percentCollision,'RowNames',{'Map1';'Map2';'Map3'})
end