last plot updates

@miSim/initialize.m

@@ -138,6 +138,11 @@ function [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, m
         % Initialize variable that will store barrier function values per timestep for analysis purposes
         obj.barriers = NaN(obj.numBarriers, size(obj.times, 1));
 
+        % Initialize constraint adjacency history (nAgents x nAgents x nTimesteps)
+        nAgents = size(obj.agents, 1);
+        obj.constraintAdjacencyHist = false(nAgents, nAgents, size(obj.times, 1));
+        obj.constraintAdjacencyHist(:, :, 1) = obj.constraintAdjacencyMatrix;
+
         % Set up plots showing initialized state
         obj = obj.plot();
 

@miSim/miSim.m

@@ -27,6 +27,7 @@ classdef miSim
         spatialPlotIndices = [6, 4, 3, 2];
         numBarriers = 0; % Number of barrier functions needed
         barriers = []; % log barrier function values at each timestep for analysis
+        constraintAdjacencyHist = []; % log constraint adjacency matrix at each timestep
     end
 
     properties (Access = private)

@miSim/run.m

@@ -34,6 +34,11 @@ function [obj] = run(obj)
             obj = obj.lesserNeighbor();
         end
 
+        % Log constraint adjacency for this timestep
+        if coder.target('MATLAB')
+            obj.constraintAdjacencyHist(:, :, ii) = obj.constraintAdjacencyMatrix;
+        end
+
         % Moving
         % Iterate over agents to simulate their unconstrained motion
         for jj = 1:size(obj.agents, 1)

@miSim/teardown.m

@@ -20,6 +20,7 @@ function obj = teardown(obj)
     out.dampingCoeff = obj.dampingCoeff;
     out.useDoubleIntegrator = obj.useDoubleIntegrator;
     out.useFixedTopology = obj.useFixedTopology;
+    out.constraintAdjacency = obj.constraintAdjacencyHist(:, :, 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).vel = squeeze(obj.velHist(ii, 1:(end - 1), 1:3));
@@ -43,6 +44,7 @@ function obj = teardown(obj)
     obj.agents = cell(0, 1);
     obj.adjacency = NaN;
     obj.constraintAdjacencyMatrix = NaN;
+    obj.constraintAdjacencyHist = [];
     obj.partitioning = NaN;
     obj.performance = 0;
     obj.barrierGain = NaN;