scenarios_settings.m

function [x_true_init, tg_true_init, v_robot, r_senses, fovs, v_tg, yaw_tg, motion_tg, viz_axis] = scenarios_settings(num_robot, num_tg, type_tg, Horizon, run_len)
    % return scenario-specific parameters
    if num_robot == 2 && num_tg == 2 && strcmp(type_tg, 'normal')
        % To be defined
    elseif num_robot == 2 && num_tg == 2 && strcmp(type_tg, 'adversarial')
        % To be defined
    elseif num_robot == 2 && num_tg == 3 && strcmp(type_tg, 'normal')
        v_robot = [1.3; 1.1]*20;
        r_senses = [150;100];
        fovs = [deg2rad(64); deg2rad(94)];
        v_tg = [0.3; 0.5; 0.72]*20;
        yaw_tg = [0; deg2rad(90); deg2rad(-90)];
        motion_tg = ["straight"; "straight"; "circle"];
        x_true_init = zeros(num_robot,3);
        x_true_init(1, :) = [-150;0;0];
        x_true_init(2, :) = [0; -110; pi/2];
        tg_true_init = zeros(3, num_tg);
        tg_true_init(:, 1) = [-90;0;1];
        tg_true_init(:, 2) = [0;-120;2];
        tg_true_init(:, 3) = [-80;0;3];
        viz_axis = [-700,700,-200,1200];
    elseif num_robot == 2 && num_tg == 3 && strcmp(type_tg, 'adversarial')
        % To be defined
    elseif num_robot == 2 && num_tg == 4 && strcmp(type_tg, 'normal')
        % To be defined
    elseif num_robot == 2 && num_tg == 4 && strcmp(type_tg, 'adversarial')
        % To be defined
    end
end