codegen fixes, bug fixes, gets running on testbed environment

@agent/agent.m

@@ -17,8 +17,8 @@ classdef agent
         fovGeometry;
 
         % Communication
-        commsGeometry = spherical;
-        lesserNeighbors = [];
+        commsGeometry;
+        lesserNeighbors = zeros(1, 0);
 
         % Performance
         performance = 0;
@@ -34,6 +34,17 @@ classdef agent
     end
 
     methods (Access = public)
+        function obj = agent()
+            arguments (Input)
+            end
+            arguments (Output)
+                obj (1, 1) agent
+            end
+            obj.collisionGeometry = spherical;
+            obj.sensorModel = sigmoidSensor;
+            obj.fovGeometry = cone;
+            obj.commsGeometry = spherical;
+        end
         [obj] = initialize(obj, pos, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
         [obj] = run(obj, domain, partitioning, t, index, agents);
         [partitioning] = partition(obj, agents, objective)