added logging to matfile

@miSim/constrainMotion.m

@@ -8,12 +8,6 @@ function [obj] = constrainMotion(obj)
 
     nAgents = size(obj.agents, 1);
 
-    if nAgents < 2
-        nAAPairs = 0;
-    else
-        nAAPairs = nchoosek(nAgents, 2); % unique agent/agent pairs
-    end
-
     % Compute velocity matrix from unconstrained gradient-ascent step
     v = zeros(nAgents, 3);
     for ii = 1:nAgents
@@ -26,13 +20,9 @@ function [obj] = constrainMotion(obj)
     end
 
     % Initialize QP based on number of agents and obstacles
-    nAOPairs = nAgents * size(obj.obstacles, 1); % unique agent/obstacle pairs
-    nADPairs = nAgents * 6; % agents x (4 walls + 1 floor + 1 ceiling)
-    nLNAPairs = sum(obj.constraintAdjacencyMatrix, "all") - nAgents;
-    total = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
     kk = 1;
-    A = zeros(total, 3 * nAgents);
+    A = zeros(obj.numBarriers, 3 * nAgents);
-    b = zeros(total, 1);
+    b = zeros(obj.numBarriers, 1);
 
     % Set up collision avoidance constraints
     h = NaN(nAgents, nAgents);
@@ -60,6 +50,10 @@ function [obj] = constrainMotion(obj)
         end
     end
 
+    idx = length(h(triu(true(size(h)), 1)));
+    obj.barriers(1:idx, obj.timestepIndex) = h(triu(true(size(h)), 1));
+    idx = idx + 1;
+
     hObs = NaN(nAgents, size(obj.obstacles, 1));
     % Set up obstacle avoidance constraints
     for ii = 1:nAgents
@@ -80,6 +74,9 @@ function [obj] = constrainMotion(obj)
         end
     end
 
+    obj.barriers(idx:(idx + numel(hObs) - 1), obj.timestepIndex) = reshape(hObs, [], 1);
+    idx = idx + numel(hObs);
+
     % Set up domain constraints (walls and ceiling only)
     % Floor constraint is implicit with an obstacle corresponding to the
     % minimum allowed altitude, but I included it anyways
@@ -120,6 +117,9 @@ function [obj] = constrainMotion(obj)
         A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, 1];
         b(kk) = obj.barrierGain * max(0, h_zMax)^obj.barrierExponent;
         kk = kk + 1;
+
+        obj.barriers(idx:(idx + 5), obj.timestepIndex) = [h_xMin; h_xMax; h_yMin; h_yMax; h_zMin; h_zMax];
+        idx = idx + 6;
     end
 
     if coder.target('MATLAB')
@@ -154,6 +154,7 @@ function [obj] = constrainMotion(obj)
             end
         end
     end
+    obj.barriers(idx:(idx + length(hComms(triu(true(size(hComms)), 1))) - 1), obj.timestepIndex) = hComms(triu(true(size(hComms)), 1));
 
     % Solve QP program generated earlier
     vhat = reshape(v', 3 * nAgents, 1);

@miSim/initialize.m

@@ -104,11 +104,25 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
     % Create initial partitioning
     obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
 
+    % Determine number of barrier functions that will be necessary
+    if size(obj.agents, 1) < 2
+        nAAPairs = 0;
+    else
+        nAAPairs = nchoosek(size(obj.agents, 1), 2); % unique agent/agent pairs
+    end
+    nAOPairs = size(obj.agents, 1) * size(obj.obstacles, 1); % unique agent/obstacle pairs
+    nADPairs = size(obj.agents, 1) * 6; % agents x (4 walls + 1 floor + 1 ceiling)
+    nLNAPairs = sum(triu(obj.constraintAdjacencyMatrix, 1), "all");
+    obj.numBarriers = nAAPairs + nAOPairs + nADPairs + nLNAPairs;
+
     if coder.target('MATLAB')
         % 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);
 
+        % Initialize variable that will store barrier function values per timestep for analysis purposes
+        obj.barriers = NaN(obj.numBarriers, size(obj.times, 1));
+
         % Set up plots showing initialized state
         obj = obj.plot();
 

@miSim/miSim.m

@@ -23,6 +23,8 @@ classdef miSim
         fPerf; % performance plot figure
         % Indicies for various plot types in the main tiled layout figure
         spatialPlotIndices = [6, 4, 3, 2];
+        numBarriers = 0; % Number of barrier functions needed
+        barriers = []; % log barrier function values at each timestep for analysis
     end
 
     properties (Access = private)

@miSim/run.m

@@ -63,10 +63,12 @@ function [obj] = run(obj)
         end
     end
 
+    % Close video
     if coder.target('MATLAB')
         if obj.makeVideo
             % Close video file
             v.close();
         end
     end
+    
 end

@miSim/teardown.m

@@ -11,6 +11,25 @@ function obj = teardown(obj)
     close(obj.fPerf);
     close(obj.f);
 
+    % Log results into matfile
+    histPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", strcat(obj.artifactName, "_miSimHist.mat"));
+    out = struct("agent", repmat(struct("pos", [], "perf", [], "sensor", struct("alphaDist", [], "betaDist", [], "alphaTilt", [], "betaTilt", []), "collisionRadius", [], "commsRadius", []), size(obj.agents)), "perf", [], "barriers", []);
+
+    out.perf = obj.performance(1:(end - 1));
+    out.barriers = [zeros(size(obj.barriers(1:end, 1), 1), 1), obj.barriers(1:end, 1:(end - 1))];
+    for ii = 1:size(obj.agents, 1)
+        out.agent(ii).pos = squeeze(obj.posHist(ii, 1:(end - 1), 1:3));
+        out.agent(ii).perf = obj.agents{ii}.performance(1:(end - 2));
+        out.agent(ii).sensor.alphaDist = obj.agents{ii}.sensorModel.alphaDist;
+        out.agent(ii).sensor.betaDist = obj.agents{ii}.sensorModel.betaDist;
+        out.agent(ii).sensor.alphaTilt = obj.agents{ii}.sensorModel.alphaTilt;
+        out.agent(ii).sensor.betaTilt = obj.agents{ii}.sensorModel.betaTilt;
+        out.agent(ii).collisionRadius = obj.agents{ii}.collisionGeometry.radius;
+        out.agent(ii).commsRadius = obj.agents{ii}.commsGeometry.radius;
+    end
+
+    save(histPath, "out");
+
     % reset parameters
     obj.timestep = NaN;
     obj.timestepIndex = NaN;

resources/project/erFP4mR9aK32bO4kZAlU-FeDikA/mvGRiPTuORJmVPdRh4fiJMWoTJAd.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info/>

resources/project/erFP4mR9aK32bO4kZAlU-FeDikA/mvGRiPTuORJmVPdRh4fiJMWoTJAp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/erFP4mR9aK32bO4kZAlU-FeDikAd.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/erFP4mR9aK32bO4kZAlU-FeDikAp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="three_around_wall_2uavs" type="File"/>

test/parametricTestSuite.m

@@ -64,6 +64,9 @@ classdef parametricTestSuite < matlab.unittest.TestCase
 
             % Run
             tc.testClass = tc.testClass.run();
+
+            % Save results and clean up
+            tc.testClass = tc.testClass.teardown();
         end
         function csv_parametric_tests_random_agents(tc)
             % Read in parameters to iterate over