results plot1 WIP

plot1.m

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+clear;
+% Load data
+dataPath = fullfile('.', 'sandbox', 'plot1');
+simHists = dir(dataPath); simHists = simHists(3:end);
+simInits = simHists(endsWith({simHists.name}, 'miSimInits.mat'));
+simHists = simHists(endsWith({simHists.name}, 'miSimHist.mat'));
+assert(length(simHists) == length(simInits), "input data availability mismatch");
+
+% Initialize plotting data
+Cfinal = NaN(12, 1);
+n = NaN(12, 1);
+doubleIntegrator = NaN(12, 1);
+numObjective = NaN(12, 1);
+
+% Aggregate relevant data
+for ii = 1:length(simHists)
+    initName = strrep(simInits(ii).name, "_miSimInits.mat", "");
+    histName = strrep(simHists(ii).name, "_miSimHist.mat", "");
+    assert(initName == histName);
+
+    init = load(fullfile(simInits(ii).folder, simInits(ii).name));
+    hist = load(fullfile(simHists(ii).folder, simHists(ii).name));
+
+    % Stash relevant data
+    Cfinal(ii) = hist.out.perf(end) / init.objectiveIntegral;
+    n(ii) = init.numAgents;
+    doubleIntegrator(ii) = init.useDoubleIntegrator;
+    numObjective(ii) = size(init.objectivePos, 1);
+    for jj = 1:length(hist.out.agent)
+        alphaDist(jj, ii) = hist.out.agent(jj).sensor.alphaDist;
+    end
+end
+
+sensors = unique(alphaDist(1, :));
+
+config = [];
+for ii = 1:length(simHists)
+    % number of agents
+    s = num2str(n(ii));
+
+    % number of objectives
+    if numObjective(ii) == 1
+        s = strcat(s, "_A");
+    elseif numObjective(ii) == 2
+        s = strcat(s, "_B");
+    end
+
+    % sensor pararmeter set
+    if alphaDist(1, ii) == sensors(1)
+        s = strcat(s, "_I");
+    elseif alphaDist(1, ii) == sensors(2)
+        s = strcat(s, "_II");
+    end
+
+    % agent dynamics
+    if ~doubleIntegrator(ii)
+        s = strcat(s, '_alpha');
+    elseif doubleIntegrator(ii)
+        s = strcat(s, '_beta');
+    end
+    config = [config; s];
+end
+
+close all;
+f = figure;
+x = axes; grid(x, "on");
+
+n_unique = sort(unique(n));
+C = [];
+for ii = 1:length(n_unique)
+    nIdx = n == n_unique(ii);
+    C = [C; [Cfinal(nIdx)]']; 
+end
+bar(C);
+xlabel("Number of agents");
+ylabel("Final coverage (fraction of maximum)");
+title("Final performance of parameterizations");
+legend(["$AI\alpha$"; "$AI\beta$"; "$AII\alpha$"; "$BI\beta$"], "Interpreter", "latex");
+grid("on");
+keyboard
+