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This commit is contained in:
Kevin Dee
2026-01-27 21:46:40 -08:00
parent a68690a5cf
commit 03fae7077c
58 changed files with 214 additions and 213 deletions
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12
@miSim/constrainMotion.m
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@@ -1,9 +1,9 @@
function [obj] = constrainMotion(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
if size(obj.agents, 1) < 2
@@ -14,7 +14,7 @@ function [obj] = constrainMotion(obj)
agents = [obj.agents{:}];
v = reshape(([agents.pos] - [agents.lastPos])./obj.timestep, 3, size(obj.agents, 1))';
if all(isnan(v), 'all') || all(v == zeros(size(obj.agents, 1), 3), 'all')
if all(isnan(v), "all") || all(v == zeros(size(obj.agents, 1), 3), "all")
% Agents are not attempting to move, so there is no motion to be
% constrained
return;
@@ -23,7 +23,7 @@ function [obj] = constrainMotion(obj)
% Initialize QP based on number of agents and obstacles
nAOPairs = size(obj.agents, 1) * size(obj.obstacles, 1); % unique agent/obstacle pairs
nADPairs = size(obj.agents, 1) * 5; % agents x (4 walls + 1 ceiling)
nLNAPairs = sum(obj.constraintAdjacencyMatrix, 'all') - size(obj.agents, 1);
nLNAPairs = sum(obj.constraintAdjacencyMatrix, "all") - size(obj.agents, 1);
total = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
kk = 1;
A = zeros(total, 3 * size(obj.agents, 1));
@@ -130,9 +130,9 @@ function [obj] = constrainMotion(obj)
assert(size(A,2) == size(H,1))
assert(size(A,1) == size(b,1))
assert(size(H,1) == length(f))
opt = optimoptions('quadprog', 'Display', 'off');
opt = optimoptions("quadprog", "Display", "off");
[vNew, ~, exitflag, m] = quadprog(sparse(H), double(f), A, b, [],[], [], [], [], opt);
assert(exitflag == 1, sprintf('quadprog failure... %s%s', newline, m.message));
assert(exitflag == 1, sprintf("quadprog failure... %s%s", newline, m.message));
vNew = reshape(vNew, 3, size(obj.agents, 1))';
if exitflag <= 0

8
@miSim/initialize.m
View File

@@ -1,6 +1,6 @@
function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
domain (1, 1) {mustBeGeometry};
agents (:, 1) cell;
barrierGain (1, 1) double = 100;
@@ -13,7 +13,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
makeVideo (1, 1) logical = true;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% enable/disable plotting and video writer
@@ -27,7 +27,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
obj.makeVideo = makeVideo;
% Generate artifact(s) name
obj.artifactName = strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'));
obj.artifactName = strcat(string(datetime("now"), "yyyy_MM_dd_HH_mm_ss"));
% Define simulation time parameters
obj.timestep = timestep;
@@ -87,7 +87,7 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
% Initialize variable that will store agent positions for trail plots
obj.posHist = NaN(size(obj.agents, 1), obj.maxIter + 1, 3);
obj.posHist(1:size(obj.agents, 1), 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false)), size(obj.agents, 1), 1, 3);
obj.posHist(1:size(obj.agents, 1), 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
% Set up plots showing initialized state
obj = obj.plot();

4
@miSim/lesserNeighbor.m
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@@ -1,9 +1,9 @@
function obj = lesserNeighbor(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% initialize solution with self-connections only

4
@miSim/plot.m
View File

@@ -1,9 +1,9 @@
function obj = plot(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% fast exit when plotting is disabled

8
@miSim/plotConnections.m
View File

@@ -1,9 +1,9 @@
function obj = plotConnections(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Iterate over lower triangle off-diagonal region of the
@@ -23,11 +23,11 @@ function obj = plotConnections(obj)
% Plot the connections
if isnan(obj.spatialPlotIndices)
hold(obj.f.CurrentAxes, "on");
o = plot3(obj.f.CurrentAxes, X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
o = plot3(obj.f.CurrentAxes, X, Y, Z, "Color", "g", "LineWidth", 2, "LineStyle", "--");
hold(obj.f.CurrentAxes, "off");
else
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "on");
o = plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
o = plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), X, Y, Z, "Color", "g", "LineWidth", 2, "LineStyle", "--");
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "off");
end

18
@miSim/plotGraph.m
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@@ -1,23 +1,23 @@
function obj = plotGraph(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Form graph from adjacency matrix
G = graph(obj.constraintAdjacencyMatrix, 'omitselfloops');
G = graph(obj.constraintAdjacencyMatrix, "omitselfloops");
% Plot graph object
if isnan(obj.networkGraphIndex)
hold(obj.f.CurrentAxes, 'on');
o = plot(obj.f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
hold(obj.f.CurrentAxes, 'off');
hold(obj.f.CurrentAxes, "on");
o = plot(obj.f.CurrentAxes, G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
hold(obj.f.CurrentAxes, "off");
else
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'on');
o = plot(obj.f.Children(1).Children(obj.networkGraphIndex(1)), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'off');
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), "on");
o = plot(obj.f.Children(1).Children(obj.networkGraphIndex(1)), G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), "off");
if size(obj.networkGraphIndex, 2) > 1
for ii = 2:size(ind, 2)
o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];

18
@miSim/plotH.m
View File

@@ -1,9 +1,9 @@
function obj = plotH(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
obj.hf = figure;
@@ -12,7 +12,7 @@ function obj = plotH(obj)
nexttile(obj.hf.Children(1));
axes(obj.hf.Children(1).Children(1));
grid(obj.hf.Children(1).Children(1), "on");
xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
xlabel(obj.hf.Children(1).Children(1), "Time (s)");
title(obj.hf.Children(1).Children(1), "Collision Avoidance");
hold(obj.hf.Children(1).Children(1), "on");
obj.caPlot = plot(obj.h(1:(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2), :)');
@@ -22,13 +22,13 @@ function obj = plotH(obj)
legendStrings = [legendStrings; sprintf("A%d A%d", jj, ii)];
end
end
legend(obj.hf.Children(1).Children(1), legendStrings, 'Location', 'bestoutside');
legend(obj.hf.Children(1).Children(1), legendStrings, "Location", "bestoutside");
hold(obj.hf.Children(1).Children(2), "off");
nexttile(obj.hf.Children(1));
axes(obj.hf.Children(1).Children(1));
grid(obj.hf.Children(1).Children(1), "on");
xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(2), "");
xlabel(obj.hf.Children(1).Children(1), "Time (s)");
title(obj.hf.Children(1).Children(1), "Obstacles");
hold(obj.hf.Children(1).Children(1), "on");
obj.obsPlot = plot(obj.h((1 + (size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)):(((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1)), :)');
@@ -38,23 +38,23 @@ function obj = plotH(obj)
legendStrings = [legendStrings; sprintf("A%d O%d", jj, ii)];
end
end
legend(obj.hf.Children(1).Children(1), legendStrings, 'Location', 'bestoutside');
legend(obj.hf.Children(1).Children(1), legendStrings, "Location", "bestoutside");
hold(obj.hf.Children(1).Children(2), "off");
nexttile(obj.hf.Children(1));
axes(obj.hf.Children(1).Children(1));
grid(obj.hf.Children(1).Children(1), "on");
xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
xlabel(obj.hf.Children(1).Children(1), "Time (s)");
title(obj.hf.Children(1).Children(1), "Domain");
hold(obj.hf.Children(1).Children(1), "on");
obj.domPlot = plot(obj.h((1 + (((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1))):size(obj.h, 1), 1:end)');
legend(obj.hf.Children(1).Children(1), ["X Min"; "X Max"; "Y Min"; "Y Max"; "Z Min"; "Z Max";], 'Location', 'bestoutside');
legend(obj.hf.Children(1).Children(1), ["X Min"; "X Max"; "Y Min"; "Y Max"; "Z Min"; "Z Max";], "Location", "bestoutside");
hold(obj.hf.Children(1).Children(2), "off");
nexttile(obj.hf.Children(1));
axes(obj.hf.Children(1).Children(1));
grid(obj.hf.Children(1).Children(1), "on");
xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
xlabel(obj.hf.Children(1).Children(1), "Time (s)");
title(obj.hf.Children(1).Children(1), "Communications");
% skipped this for now because it is very complicated

12
@miSim/plotPartitions.m
View File

@@ -1,19 +1,19 @@
function obj = plotPartitions(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
if isnan(obj.partitionGraphIndex)
hold(obj.f.CurrentAxes, 'on');
hold(obj.f.CurrentAxes, "on");
o = imagesc(obj.f.CurrentAxes, obj.partitioning);
hold(obj.f.CurrentAxes, 'off');
hold(obj.f.CurrentAxes, "off");
else
hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), "on");
o = imagesc(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), obj.partitioning);
hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), "off");
if size(obj.partitionGraphIndex, 2) > 1
for ii = 2:size(ind, 2)
o = [o, copyobj(o(1), obj.f.Children(1).Children(obj.partitionGraphIndex(ii)))];

24
@miSim/plotPerformance.m
View File

@@ -1,9 +1,9 @@
function obj = plotPerformance(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% fast exit when plotting is disabled
@@ -15,31 +15,31 @@ function obj = plotPerformance(obj)
axes(obj.fPerf);
title(obj.fPerf.Children(1), "Sensor Performance");
xlabel(obj.fPerf.Children(1), 'Time (s)');
ylabel(obj.fPerf.Children(1), 'Sensor Performance');
grid(obj.fPerf.Children(1), 'on');
xlabel(obj.fPerf.Children(1), "Time (s)");
ylabel(obj.fPerf.Children(1), "Sensor Performance");
grid(obj.fPerf.Children(1), "on");
% Plot current cumulative performance
hold(obj.fPerf.Children(1), 'on');
hold(obj.fPerf.Children(1), "on");
o = plot(obj.fPerf.Children(1), obj.perf(end, :));
warning('off', 'MATLAB:gui:array:InvalidArrayShape'); % suppress this warning to avoid polluting output
warning("off", "MATLAB:gui:array:InvalidArrayShape"); % suppress this warning to avoid polluting output
o.XData = NaN(1, obj.maxIter); % correct time will be set at runtime
o.YData = [0, NaN(1, obj.maxIter - 1)];
hold(obj.fPerf.Children(1), 'off');
hold(obj.fPerf.Children(1), "off");
% Plot current agent performance
for ii = 1:(size(obj.perf, 1) - 1)
hold(obj.fPerf.Children(1), 'on');
hold(obj.fPerf.Children(1), "on");
o = [o; plot(obj.fPerf.Children(1), obj.perf(ii, :))];
o(end).XData = NaN(1, obj.maxIter); % correct time will be set at runtime
o(end).YData = [0, NaN(1, obj.maxIter - 1)];
hold(obj.fPerf.Children(1), 'off');
hold(obj.fPerf.Children(1), "off");
end
% Add legend
agentStrings = string(cellfun(@(x) x.label, obj.agents, 'UniformOutput', false));
agentStrings = string(cellfun(@(x) x.label, obj.agents, "UniformOutput", false));
agentStrings = ["Total"; agentStrings];
legend(obj.fPerf.Children(1), agentStrings, 'Location', 'northwest');
legend(obj.fPerf.Children(1), agentStrings, "Location", "northwest");
obj.performancePlot = o;
end

10
@miSim/plotTrails.m
View File

@@ -1,9 +1,9 @@
function obj = plotTrails(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')}
obj (1, 1) {mustBeA(obj, "miSim")}
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')}
obj (1, 1) {mustBeA(obj, "miSim")}
end
% fast exit when plotting is disabled
@@ -14,9 +14,9 @@ function obj = plotTrails(obj)
% Plot full range of position history on each spatial plot axes
o = [];
for ii = 1:(size(obj.posHist, 1))
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), 'on');
o = [o; plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), obj.posHist(ii, 1:obj.maxIter, 1), obj.posHist(ii, 1:obj.maxIter, 2), obj.posHist(ii, 1:obj.maxIter, 3), 'Color', 'k', 'LineWidth', 1)];
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), 'off');
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "on");
o = [o; plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), obj.posHist(ii, 1:obj.maxIter, 1), obj.posHist(ii, 1:obj.maxIter, 2), obj.posHist(ii, 1:obj.maxIter, 3), "Color", "k", "LineWidth", 1)];
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "off");
end
% Copy to other plots

6
@miSim/run.m
View File

@@ -1,9 +1,9 @@
function [obj] = run(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Start video writer
@@ -41,7 +41,7 @@ function [obj] = run(obj)
% After moving
% Update agent position history array
obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false)), size(obj.agents, 1), 1, 3);
obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
% Update total performance
obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(obj.timestepIndex+1), obj.agents))];

8
@miSim/setupVideoWriter.m
View File

@@ -1,15 +1,15 @@
function v = setupVideoWriter(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
v (1, 1) {mustBeA(v, 'VideoWriter')};
v (1, 1) {mustBeA(v, "VideoWriter")};
end
if ispc || ismac
v = VideoWriter(fullfile(matlab.project.rootProject().RootFolder, 'sandbox', strcat(obj.artifactName, "_miSimHist")), 'MPEG-4');
v = VideoWriter(fullfile(matlab.project.rootProject().RootFolder, "sandbox", strcat(obj.artifactName, "_miSimHist")), "MPEG-4");
elseif isunix
v = VideoWriter(fullfile(matlab.project.rootProject().RootFolder, 'sandbox', strcat(obj.artifactName, "_miSimHist")), 'Motion JPEG AVI');
v = VideoWriter(fullfile(matlab.project.rootProject().RootFolder, "sandbox", strcat(obj.artifactName, "_miSimHist")), "Motion JPEG AVI");
end
v.FrameRate = 1 / obj.timestep;

4
@miSim/teardown.m
View File

@@ -1,9 +1,9 @@
function obj = teardown(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Close plots

4
@miSim/updateAdjacency.m
View File

@@ -1,9 +1,9 @@
function obj = updateAdjacency(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Initialize assuming only self-connections

4
@miSim/updatePlots.m
View File

@@ -1,9 +1,9 @@
function [obj] = updatePlots(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Fast exit when plotting is disabled

6
@miSim/validate.m
View File

@@ -1,6 +1,6 @@
function validate(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
end
@@ -10,12 +10,12 @@ function validate(obj)
warning("Network is not connected");
end
if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, 'all')
if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, "all")
warning("Eliminated network connections that were necessary");
end
%% Obstacle Validators
AO_collisions = cellfun(@(a) cellfun(@(o) o.contains(a.pos), obj.obstacles), obj.agents, 'UniformOutput', false);
AO_collisions = cellfun(@(a) cellfun(@(o) o.contains(a.pos), obj.obstacles), obj.agents, "UniformOutput", false);
AO_collisions = vertcat(AO_collisions{:});
if any(AO_collisions)
[idx, idy] = find(AO_collisions);

10
@miSim/writeParams.m
View File

@@ -1,6 +1,6 @@
function writeParams(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
obj (1, 1) {mustBeA(obj, "miSim")};
end
arguments (Output)
end
@@ -15,15 +15,15 @@ function writeParams(obj)
initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
% Combine with simulation parameters
params = struct('timestep', obj.timestep, 'maxIter', obj.maxIter, 'minAlt', obj.obstacles{end}.maxCorner(3), 'discretizationStep', obj.domain.objective.discretizationStep, ...
'sensorPerformanceMinimum', obj.domain.objective.sensorPerformanceMinimum, 'collisionRadius', collisionRadii, 'alphaDist', alphaDist, 'betaDist', betaDist, ...
'alphaTilt', alphaTilt, 'betaTilt', betaTilt, 'comRange', comRange, 'initialStepSize', initialStepSize, 'barrierGain', obj.barrierGain, 'barrierExponent', obj.barrierExponent ...
params = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), "discretizationStep", obj.domain.objective.discretizationStep, ...
"sensorPerformanceMinimum", obj.domain.objective.sensorPerformanceMinimum, "collisionRadius", collisionRadii, "alphaDist", alphaDist, "betaDist", betaDist, ...
"alphaTilt", alphaTilt, "betaTilt", betaTilt, "comRange", comRange, "initialStepSize", initialStepSize, "barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent ...
);
% TODO add sensorPerformanceMinimum
% Save all parameters to output file
paramsFile = strcat(obj.artifactName, "_miSimParams");
paramsFile = fullfile(matlab.project.rootProject().RootFolder, 'sandbox', paramsFile);
paramsFile = fullfile(matlab.project.rootProject().RootFolder, "sandbox", paramsFile);
save(paramsFile, "-struct", "params");
end