made no plotting flag for better performance and unit testing

@miSim/initialize.m

@@ -1,4 +1,4 @@
-function obj = initialize(obj, domain, objective, agents, minAlt, timestep, partitoningFreq, maxIter, obstacles, makeVideo)
+function obj = initialize(obj, domain, objective, agents, minAlt, timestep, partitoningFreq, maxIter, obstacles, makePlots, makeVideo)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
         domain (1, 1) {mustBeGeometry};
@@ -9,14 +9,23 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
         partitoningFreq (:, 1) double = 0.25
         maxIter (:, 1) double = 1000;
         obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
+        makePlots(1, 1) logical = true;
         makeVideo (1, 1) logical = true;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
 
-    % enable/disable video writer
+    % enable/disable plotting and video writer
+    obj.makePlots = makePlots;
+    if ~obj.makePlots
+        if makeVideo
+            warning("makeVideo set to true, but makePlots set to false. Setting makeVideo to false.");
+            makeVideo = false;
+        end
+    end
     obj.makeVideo = makeVideo;
+    
 
     % Define simulation time parameters
     obj.timestep = timestep;
@@ -51,7 +60,6 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
     obj.partitioningTimes = obj.times(obj.partitioningFreq:obj.partitioningFreq:size(obj.times, 1));
 
     % Prepare performance data store (at t = 0, all have 0 performance)
-    obj.fPerf = figure;
     obj.perf = [zeros(size(obj.agents, 1) + 1, 1), NaN(size(obj.agents, 1) + 1, size(obj.partitioningTimes, 1) - 1)];
 
     % Create initial partitioning

@miSim/miSim.m

@@ -28,8 +28,9 @@ classdef miSim
         partitioningTimes;
 
         % Plot objects
+        makePlots = true; % enable/disable simulation plotting (performance implications)
         makeVideo = true; % enable/disable VideoWriter (performance implications)
-        f = firstPlotSetup(); % main plotting tiled layout figure
+        f; % main plotting tiled layout figure
         connectionsPlot; % objects for lines connecting agents in spatial plots
         graphPlot; % objects for abstract network graph plot
         partitionPlot; % objects for partition plot

@miSim/plot.m

@@ -5,6 +5,11 @@ function obj = plot(obj)
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
+    
+    % fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
 
     % Plot domain
     [obj.domain, obj.f] = obj.domain.plotWireframe(obj.spatialPlotIndices);

@miSim/plotPerformance.m

@@ -6,6 +6,13 @@ function obj = plotPerformance(obj)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
 
+    % fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
+    
+    obj.fPerf = figure;
+
     axes(obj.fPerf);
     title(obj.fPerf.Children(1), "Sensor Performance");
     xlabel(obj.fPerf.Children(1), 'Time (s)');

@miSim/updatePlots.m

@@ -7,6 +7,11 @@ function [obj] = updatePlots(obj, updatePartitions)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
 
+    % Fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
+
     % Update agent positions, collision geometries
     for ii = 1:size(obj.agents, 1)
         obj.agents{ii}.updatePlots();

test/test_miSim.m

@@ -5,6 +5,7 @@ classdef test_miSim < matlab.unittest.TestCase
 
         % Debug
         makeVideo = true; % disable video writing for big performance increase
+        makePlots = true; % disable plotting for big performance increase (also disables video)
 
         % Sim
         maxIter = 250;
@@ -528,7 +529,6 @@ classdef test_miSim < matlab.unittest.TestCase
             % Run the simulation
             tc.testClass.run();
         end
-
         function test_obstacle_blocks_comms_LOS(tc)
             % Fixed single obstacle
             % Fixed two agents initial conditions
@@ -565,8 +565,8 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.obstacles{1} = tc.obstacles{1}.initialize([tc.domain.center(1:2) - obstacleLength, 0; tc.domain.center(1:2) + obstacleLength, tc.domain.maxCorner(3)], REGION_TYPE.OBSTACLE, "Obstacle 1");
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, 0, tc.timestep, tc.partitoningFreq, 125, tc.obstacles, tc.makeVideo);
-        
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, 0, tc.timestep, tc.partitoningFreq, 125, tc.obstacles, false, false);
+
             % No communications link should be established
             tc.assertEqual(tc.testClass.adjacency, logical(eye(2)));
         end