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added video writing feature

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This commit is contained in:
Kevin D
2025-10-27 23:13:33 -07:00
parent 7fb9d13781
commit 0621e0a07a
8 changed files with 59 additions and 17 deletions
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61
miSim.m
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@@ -12,6 +12,12 @@ classdef miSim
adjacency = NaN; % Adjacency matrix representing communications network graph
end
properties (Access = private)
v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist.mp4')));
connectionsPlot; % objects for lines connecting agents in spatial plots
graphPlot; % objects for abstract network graph plot
end
methods (Access = public)
function [obj, f] = initialize(obj, domain, objective, agents, timestep, maxIter, obstacles)
arguments (Input)
@@ -71,10 +77,10 @@ classdef miSim
end
% Plot communication links
f = obj.plotNetwork(f);
[obj, f] = obj.plotConnections(f);
% Plot abstract network graph
f = obj.plotGraph(f);
[obj, f] = obj.plotGraph(f);
end
function [obj, f] = run(obj, f)
arguments (Input)
@@ -92,6 +98,11 @@ classdef miSim
% Set up times to iterate over
times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
% Start video writer
obj.v.FrameRate = 1/obj.timestep;
obj.v.Quality = 90;
obj.v.open();
for ii = 1:size(times, 1)
% Display current sim time
t = times(ii);
@@ -106,28 +117,44 @@ classdef miSim
obj = obj.updateAdjacency;
% Update plots
f = obj.updatePlots(f);
[obj, f] = obj.updatePlots(f);
% Write frame in to video
I = getframe(f);
obj.v.writeVideo(I);
end
% Close video file
obj.v.close();
end
function f = updatePlots(obj, f)
function [obj, f] = updatePlots(obj, f)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Update agent positions, collision geometries, connections
% Update agent positions, collision geometries
for ii = 1:size(obj.agents, 1)
obj.agents{ii}.updatePlots();
end
% The remaining updates might be possible to do in a clever way
% that moves existing lines instead of clearing and
% re-plotting, which is much better for performance boost
% Update agent connections plot
delete(obj.connectionsPlot);
[obj, f] = obj.plotConnections(f);
% Update network graph plot
delete(obj.graphPlot);
[obj, f] = obj.plotGraph(f);
drawnow;
end
function obj = updateAdjacency(obj)
arguments (Input)
@@ -157,12 +184,13 @@ classdef miSim
obj.adjacency = A | A';
end
function f = plotNetwork(obj, f)
function [obj, f] = plotConnections(obj, f)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
@@ -188,29 +216,28 @@ classdef miSim
% Check if this is a tiled layout figure
if strcmp(f.Children(1).Type, 'tiledlayout')
% Add to other plots
copyobj(o, f.Children(1).Children(2));
copyobj(o, f.Children(1).Children(3));
copyobj(o, f.Children(1).Children(5));
o = [o, copyobj(o(:, 1), f.Children(1).Children(2))];
o = [o, copyobj(o(:, 1), f.Children(1).Children(3))];
o = [o, copyobj(o(:, 1), f.Children(1).Children(5))];
end
obj.connectionsPlot = o;
end
function f = plotGraph(obj, f)
function [obj, f] = plotGraph(obj, f)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Form graph from adjacency matrix
G = graph(obj.adjacency, 'omitselfloops');
% Check if this is a tiled layout figure
if strcmp(f.Children(1).Type, 'tiledlayout')
o = plot(f.Children(1).Children(4), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
else
o = plot(f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
end
% Plot graph object
obj.graphPlot = plot(f.Children(1).Children(4), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
end
end