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;

plot_1.m

@@ -1,23 +1,27 @@
 clear;
-% Load data
+
+%% Load data
 dataPath = fullfile('.', 'sandbox', 'plot1');
-simHists = dir(dataPath); simHists = simHists(3:end);
+dataFiles = dir(dataPath);
-simInits = simHists(endsWith({simHists.name}, 'miSimInits.mat'));
+dataFiles = dataFiles(~startsWith({dataFiles.name}, '.'));
-simHists = simHists(endsWith({simHists.name}, 'miSimHist.mat'));
+simInits = dataFiles(endsWith({dataFiles.name}, 'miSimInits.mat'));
+simHists = dataFiles(endsWith({dataFiles.name}, 'miSimHist.mat'));
 assert(length(simHists) == length(simInits), "input data availability mismatch");
 
-% Initialize plotting data
+%% Aggregate run data
 nRuns = length(simHists);
 Cfinal = NaN(nRuns, 1);
-n = NaN(nRuns, 1);
+nAgents = NaN(nRuns, 1);
 doubleIntegrator = NaN(nRuns, 1);
 numObjective = NaN(nRuns, 1);
-positions = cell(6, nRuns);
 commsRadius = NaN(nRuns, 1);
 collisionRadius = NaN(nRuns, 1);
+maxAgents = 6;
+alphaDist = NaN(maxAgents, nRuns);
+positions = cell(maxAgents, nRuns);
+adjacency = cell(nRuns, 1);
 
-% Aggregate relevant data
+for ii = 1:nRuns
-for ii = 1:length(simHists)
     initName = strrep(simInits(ii).name, "_miSimInits.mat", "");
     histName = strrep(simHists(ii).name, "_miSimHist.mat", "");
     assert(initName == histName);
@@ -25,38 +29,29 @@ for ii = 1:length(simHists)
     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;
+    nAgents(ii) = init.numAgents;
     doubleIntegrator(ii) = init.useDoubleIntegrator;
     numObjective(ii) = size(init.objectivePos, 1);
     commsRadius(ii) = unique(init.comRange);
     collisionRadius(ii) = unique(init.collisionRadius);
-    for jj = 1:length(hist.out.agent)
+
+    adjacency{ii} = hist.out.constraintAdjacency(:, :, 1);
+    for jj = 1:nAgents(ii)
         alphaDist(jj, ii) = hist.out.agent(jj).sensor.alphaDist;
         positions{jj, ii} = hist.out.agent(jj).pos;
         assert(hist.out.agent(jj).commsRadius == commsRadius(ii));
         assert(hist.out.agent(jj).collisionRadius == collisionRadius(ii));
     end
-
-    alphaDist2 = unique(alphaDist);
-    if length(alphaDist2) > 1
-        alphaDist2 = alphaDist2(1);
-    end
-    if doubleIntegrator(ii) && all(alphaDist(1:n(ii), ii) == alphaDist2) && numObjective(ii) == 1
-        a2betaIdx = ii;
-        a2beta = struct("init", init, "hist", hist.out);
-    end
 end
 
 commsRadius = unique(commsRadius); assert(isscalar(commsRadius));
 collisionRadius = unique(collisionRadius); assert(isscalar(collisionRadius));
-sensors = flip(unique(alphaDist(1, :)));
+sensorTypes = flip(unique(alphaDist(1, :)));
-n_unique = sort(unique(n));
+nValues = sort(unique(nAgents));
-nGroups = length(n_unique);
+nGroups = length(nValues);
 
-% Build config label for each run
+%% Build config labels
-config = strings(nRuns, 1);
 baseConfig = strings(nRuns, 1);
 for ii = 1:nRuns
     s = "";
@@ -65,9 +60,9 @@ for ii = 1:nRuns
     elseif numObjective(ii) == 2
         s = s + "B";
     end
-    if alphaDist(1, ii) == sensors(1)
+    if alphaDist(1, ii) == sensorTypes(1)
         s = s + "_I";
-    elseif alphaDist(1, ii) == sensors(2)
+    elseif alphaDist(1, ii) == sensorTypes(2)
         s = s + "_II";
     end
     if ~doubleIntegrator(ii)
@@ -76,88 +71,77 @@ for ii = 1:nRuns
         s = s + "_beta";
     end
     baseConfig(ii) = s;
-    config(ii) = n(ii) + "_" + s;
 end
-configOrder = unique(baseConfig(n == n_unique(1)), 'stable');
+configOrder = unique(baseConfig(nAgents == nValues(1)), 'stable');
-nConfigsPerN = length(configOrder);
+nConfigs = length(configOrder);
+configLabels = ["$AI\alpha$"; "$AI\beta$"; "$AII\alpha$"; "$BI\beta$"];
 
-%%
+%% Plot 1: Final normalized coverage
 close all;
 f1 = figure;
 x1 = axes;
 
-C_mean = NaN(nGroups, nConfigsPerN);
+C_mean = NaN(nGroups, nConfigs);
-C_var = NaN(nGroups, nConfigsPerN);
+C_var = NaN(nGroups, nConfigs);
 for ii = 1:nGroups
-    for jj = 1:nConfigsPerN
+    for jj = 1:nConfigs
-        mask = (n == n_unique(ii)) & (baseConfig == configOrder(jj));
+        mask = (nAgents == nValues(ii)) & (baseConfig == configOrder(jj));
         C_mean(ii, jj) = mean(Cfinal(mask));
         C_var(ii, jj) = var(Cfinal(mask));
     end
 end
 
-hBar = bar(x1, C_mean);
+bar(x1, C_mean);
-hold(x1, 'on');
+set(x1, 'XTickLabel', string(nValues));
-for jj = 1:nConfigsPerN
+xlabel(x1, "Number of agents");
-    xPos = hBar(jj).XEndPoints;
+ylabel(x1, "Final coverage (normalized)");
-    errorbar(x1, xPos, C_mean(:, jj), C_var(:, jj), 'k.', 'LineWidth', 1, 'HandleVisibility', 'off');  % disabled the error bars because they are small to the point of meaninglessness
+title(x1, "Final performance of parameterizations");
-end
+legend(x1, configLabels, "Interpreter", "latex", "Location", "northwest");
-hold(x1, 'off');
+grid(x1, "on");
-set(x1, 'XTickLabel', string(n_unique));
+ylim(x1, [0, 1/2]);
-xlabel("Number of agents");
-ylabel("Final coverage (normalized)");
-title("Final performance of parameterizations");
-legend(["$AI\alpha$"; "$AI\beta$"; "$AII\alpha$"; "$BI\beta$"], "Interpreter", "latex", "Location", "northwest");
-grid("on");
-ylim([0, 1/2]);
 
 savefig(f1, "plot1.fig");
 exportgraphics(f1, "plot1.png");
 
-%%
+%% Plot 2: Pairwise agent distances
 f2 = figure;
 x2 = axes;
 
-% Compute pairwise distances between agents
+% Compute pairwise distances only for connected agents (static topology)
-maxPairs = nchoosek(6, 2);
+maxPairs = nchoosek(maxAgents, 2);
 pairDist = cell(maxPairs, nRuns);
 for ii = 1:nRuns
+    A = adjacency{ii};
     pp = 0;
-    for jj = 1:n(ii)-1
+    for jj = 1:nAgents(ii)-1
-        for kk = jj+1:n(ii)
+        for kk = jj+1:nAgents(ii)
             pp = pp + 1;
-            pairDist{pp, ii} = vecnorm(positions{jj, ii} - positions{kk, ii}, 2, 2);
+            if A(jj, kk)
+                pairDist{pp, ii} = vecnorm(positions{jj, ii} - positions{kk, ii}, 2, 2);
+            end
         end
     end
 end
 
-% Cap pairwise distances at communications range
+% Per-run statistics across all pairs and timesteps
-for ii = 1:nRuns
-    nPairs = nchoosek(n(ii), 2);
-    for pp = 1:nPairs
-        pairDist{pp, ii} = min(pairDist{pp, ii}, commsRadius);
-    end
-end
-
-% Compute mean, min, max pairwise distance across all pairs and timesteps per run
 meanPairDist = NaN(nRuns, 1);
 minPairDist = NaN(nRuns, 1);
 maxPairDist = NaN(nRuns, 1);
 for ii = 1:nRuns
-    nPairs = nchoosek(n(ii), 2);
+    nPairs = nchoosek(nAgents(ii), 2);
     D = vertcat(pairDist{1:nPairs, ii});
-    meanPairDist(ii) = mean(D);
+    meanPairDist(ii) = mean(D, "omitmissing");
     minPairDist(ii) = min(D);
     maxPairDist(ii) = max(D);
 end
 
-% Group pairwise distance stats by (n, config), aggregating across reps
+% Aggregate across trials per (n, config) group
-meanD = NaN(nGroups, nConfigsPerN);
+meanD = NaN(nGroups, nConfigs);
-minD = NaN(nGroups, nConfigsPerN);
+minD = NaN(nGroups, nConfigs);
-maxD = NaN(nGroups, nConfigsPerN);
+maxD = NaN(nGroups, nConfigs);
 for ii = 1:nGroups
-    for jj = 1:nConfigsPerN
+    for jj = 1:nConfigs
-        mask = (n == n_unique(ii)) & (baseConfig == configOrder(jj));
+        mask = (nAgents == nValues(ii)) & (baseConfig == configOrder(jj));
         meanD(ii, jj) = mean(meanPairDist(mask));
         minD(ii, jj) = min(minPairDist(mask));
         maxD(ii, jj) = max(maxPairDist(mask));
@@ -166,24 +150,25 @@ end
 
 % Plot whiskers (min to max) with mean markers
 barWidth = 0.8;
-groupWidth = barWidth / nConfigsPerN;
+groupWidth = barWidth / nConfigs;
 hold(x2, 'on');
-for jj = 1:nConfigsPerN
+for jj = 1:nConfigs
-    xPos = (1:nGroups) + (jj - (nConfigsPerN + 1) / 2) * groupWidth;
+    xPos = (1:nGroups) + (jj - (nConfigs + 1) / 2) * groupWidth;
     errorbar(x2, xPos, meanD(:, jj), meanD(:, jj) - minD(:, jj), maxD(:, jj) - meanD(:, jj), ...
         'o', 'LineWidth', 1.5, 'MarkerSize', 6, 'CapSize', 10);
 end
 hold(x2, 'off');
-set(x2, 'XTick', 1:nGroups, 'XTickLabel', string(n_unique));
+set(x2, 'XTick', 1:nGroups, 'XTickLabel', string(nValues));
 xlabel(x2, "Number of agents");
 ylabel(x2, "Pairwise distance");
 title(x2, "Pairwise Agent Distances (min/mean/max)");
-legend(x2, ["$AI\alpha$"; "$AI\beta$"; "$AII\alpha$"; "$BI\beta$"], "Interpreter", "latex");
+legend(x2, configLabels, "Interpreter", "latex");
 grid(x2, "on");
-
+yline(x2, collisionRadius, 'r--', "Label", "Collision Radius", ...
-yline(collisionRadius, 'r--', "Label", "Collision Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+    "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
-yline(commsRadius, 'r--', "Label", "Communications Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+yline(x2, commsRadius, 'r--', "Label", "Communications Radius", ...
-ylim([0, commsRadius + 5]);
+    "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+ylim(x2, [0, commsRadius + 5]);
 
 savefig(f2, "plot2.fig");
 exportgraphics(f2, "plot2.png");

plot_3.m

@@ -1,142 +1,120 @@
 clear;
-% Load data
+
+%% Load data
 dataPath = fullfile('.', 'sandbox', 'plot3');
-simHists = dir(dataPath); simHists = simHists(3:end);
+dataFiles = dir(dataPath);
-simInits = simHists(endsWith({simHists.name}, 'miSimInits.mat'));
+dataFiles = dataFiles(~startsWith({dataFiles.name}, '.'));
-simHists = simHists(endsWith({simHists.name}, 'miSimHist.mat'));
+simInits = dataFiles(endsWith({dataFiles.name}, 'miSimInits.mat'));
+simHists = dataFiles(endsWith({dataFiles.name}, 'miSimHist.mat'));
 assert(length(simHists) == length(simInits), "input data availability mismatch");
 assert(isscalar(simHists));
 
-init = fullfile(simInits(1).folder, simInits(1).name);
+init = load(fullfile(simInits(1).folder, simInits(1).name));
-hist = fullfile(simHists(1).folder, simHists(1).name);
+hist = load(fullfile(simHists(1).folder, simHists(1).name));
-
-init = load(init);
-hist = load(hist);
 hist = hist.out;
 
+%% Plot 3: Per-agent and cumulative normalized performance
+assert(size(init.objectivePos, 1) == 1);
+assert(hist.useDoubleIntegrator);
+
+nAgents = length(hist.agent);
+agentLabels = "Agent " + string(1:nAgents)';
+
 f3 = figure;
 x3 = axes;
-assert(size(init.objectivePos, 1) == 1)
+hold(x3, 'on');
-assert(hist.useDoubleIntegrator);
+plot(x3, hist.perf ./ init.objectiveIntegral, "LineWidth", 2);
-
+for ii = 1:nAgents
-plot(hist.perf./init.objectiveIntegral, "LineWidth", 2);
+    plot(x3, hist.agent(ii).perf ./ init.objectiveIntegral, "LineWidth", 2);
-hold("on");
-for ii = 1:length(hist.agent)
-    plot(hist.agent(ii).perf./init.objectiveIntegral, "LineWidth", 2);
 end
-grid("on");
+hold(x3, 'off');
-ylabel("Performance (normalized)");
+grid(x3, "on");
-xlabel("Timestep");
+ylabel(x3, "Performance (normalized)");
-legend(["Cumulative"; "Agent 1"; "Agent 2"; "Agent 3"; "Agent 4"], "Location", "northwest");
+xlabel(x3, "Timestep");
-title("$AII\beta$ Performance", "Interpreter", "latex");
+legend(x3, ["Cumulative"; agentLabels], "Location", "northwest");
+title(x3, "$AII\beta$ Performance", "Interpreter", "latex");
 
 savefig(f3, "plot3.fig");
 exportgraphics(f3, "plot3.png");
 
-f4 = figure;
+%% Plot 4: Pairwise distances and barrier functions
-x4 = axes;
-
-% Compute pairwise distances between agents over time
-nAgents = length(hist.agent);
 commsRadius = hist.agent(1).commsRadius;
 collisionRadius = hist.agent(1).collisionRadius;
 nPairs = nchoosek(nAgents, 2);
 T = size(hist.agent(1).pos, 1);
+
+% Compute pairwise distances over time
 pairDistMat = NaN(T, nPairs);
-pp = 0;
-for jj = 1:nAgents-1
-    for kk = jj+1:nAgents
-        pp = pp + 1;
-        pairDistMat(:, pp) = vecnorm(hist.agent(jj).pos - hist.agent(kk).pos, 2, 2);
-    end
-end
-
-% Cap at communications range
-% pairDistMat = min(pairDistMat, commsRadius);
-
-% Plot all pairwise distances over time
-hold(x4, 'on');
-hLeft = gobjects(nPairs, 1);
-for pp = 1:nPairs
-    hLeft(pp) = plot(x4, pairDistMat(:, pp), 'LineWidth', 2);
-end
-yline(x4, collisionRadius, 'r--', "Label", "Collision Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
-yline(x4, commsRadius, 'r--', "Label", "Communications Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
-hold(x4, 'off');
-xlabel(x4, "Timestep");
-ylabel(x4, "Pairwise distance");
-title(x4, "$AII\beta$ Pairwise Agent Distances and Barrier Function Values", "Interpreter", "latex");
-grid(x4, "on");
-ylim(x4, [0, commsRadius + 5]);
-
-% Build legend labels
 pairLabels = strings(nPairs, 1);
 pp = 0;
 for jj = 1:nAgents-1
     for kk = jj+1:nAgents
         pp = pp + 1;
+        pairDistMat(:, pp) = vecnorm(hist.agent(jj).pos - hist.agent(kk).pos, 2, 2);
         pairLabels(pp) = sprintf("Agents %d-%d Distance", jj, kk);
     end
 end
 
-l = legend(hLeft(:), pairLabels(:), "Location", "northeast");
+f4 = figure;
+x4 = axes;
+
+% Left Y-axis: pairwise distances
+hold(x4, 'on');
+hLeft = gobjects(nPairs, 1);
+for pp = 1:nPairs
+    hLeft(pp) = plot(x4, pairDistMat(:, pp), 'LineWidth', 2);
+end
+yline(x4, collisionRadius, 'r--', "Label", "Collision Radius", ...
+    "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+yline(x4, commsRadius, 'r--', "Label", "Communications Radius", ...
+    "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
+hold(x4, 'off');
+xlabel(x4, "Timestep");
+ylabel(x4, "Pairwise distance");
+title(x4, "$AII\beta$ Pairwise Agent Distances and Barrier Function Values", "Interpreter", "latex");
+grid(x4, "on");
 
 savefig(f4, "plot4_distanceOnly.fig");
 exportgraphics(f4, "plot4_distanceOnly.png");
 
-% Plot all barrier function values on right Y-axis
+% Right Y-axis: barrier function values
 nObs = init.numObstacles;
 nAA = nchoosek(nAgents, 2);
 nAO = nAgents * nObs;
 nAD = nAgents * 6;
 nComms = size(hist.barriers, 1) - nAA - nAO - nAD;
 
+colStart = 1;
+comStart = colStart + nAA + nAO + nAD;
+
+pairColors = lines(nAA);
+
 yyaxis(x4, 'right');
 hold(x4, 'on');
-
+hRight = gobjects(nAA + nComms, 1);
-% Color palettes: pairs share colors across collision/comms,
+rightLabels = strings(nAA + nComms, 1);
-% agents share colors across obstacle/domain
+idx = 0;
-pairColors = lines(nAA);
-agentColors = lines(nAgents);
-
-% Row offsets in hist.barriers
-colStart = 1;
-obsStart = colStart + nAA;
-domStart = obsStart + nAO;
-comStart = domStart + nAD;
-
-% Collision + Comms barriers grouped per pair (same color)
-hRight = gobjects(0, 1);
-rightLabels = strings(0, 1);
 for pp = 1:nAA
-    hRight(end+1) = plot(x4, hist.barriers(colStart + pp - 1, :), '--', 'LineWidth', 1.5, 'Color', pairColors(pp, :));
+    idx = idx + 1;
-    rightLabels(end+1) = sprintf('h_{col} %d', pp);
+    hRight(idx) = plot(x4, hist.barriers(colStart + pp - 1, :), '--', ...
+        'LineWidth', 1.5, 'Color', pairColors(pp, :));
+    rightLabels(idx) = sprintf('h_{col} %d', pp);
 end
 for pp = 1:nComms
-    hRight(end+1) = plot(x4, hist.barriers(comStart + pp - 1, :), '-.', 'LineWidth', 1.5, 'Color', pairColors(pp, :));
+    idx = idx + 1;
-    rightLabels(end+1) = sprintf('h_{com} %d', pp);
+    hRight(idx) = plot(x4, hist.barriers(comStart + pp - 1, :), '-.', ...
+        'LineWidth', 1.5, 'Color', pairColors(pp, :));
+    rightLabels(idx) = sprintf('h_{com} %d', pp);
 end
-
-% Obstacle barriers — colored by agent
-% idx = obsStart;
-% for aa = 1:nAgents
-%     for oo = 1:nObs
-%         hRight(end+1) = plot(x4, hist.barriers(idx, :), ':', 'LineWidth', 1, 'Color', agentColors(aa, :));
-%         rightLabels(end+1) = sprintf('h_{obs} a%d-o%d', aa, oo);
-%         idx = idx + 1;
-%     end
-% end
-
 hold(x4, 'off');
 ylabel(x4, "Barrier function $h$", "Interpreter", "latex");
 
-% Clamp both Y-axes to start at 0
+% Y-axis limits
 yyaxis(x4, 'left');  ylim(x4, [0, 25]);
 yyaxis(x4, 'right'); ylim(x4, [0, 275]);
 x4.YAxis(2).Color = 'k';
 
-% Combined legend
+legend([hLeft(:); hRight(:)], [pairLabels(:); rightLabels(:)], "Location", "eastoutside");
-l = legend([hLeft(:); hRight(:)], [pairLabels(:); rightLabels(:)], "Location", "eastoutside");
 
 savefig(f4, "plot4.fig");
 exportgraphics(f4, "plot4.png");

test/results.m

@@ -10,8 +10,8 @@ classdef results < matlab.unittest.TestCase
 
         %% Diagnostic Parameters
         % No effect on simulation dynamics
-        makeVideo = true; % disable video writing for big performance increase
+        makeVideo = false; % disable video writing for big performance increase
-        makePlots = true; % disable plotting for big performance increase (also disables video)
+        makePlots = false; % disable plotting for big performance increase (also disables video)
         plotCommsGeometry = false; % disable plotting communications geometries
 
         %% Scenario Reinitialization
@@ -72,8 +72,8 @@ classdef results < matlab.unittest.TestCase
             sensor2 = sigmoidSensor;
             sensor1 = sensor1.initialize(sensors(1).alphaDist, sensors(1).betaDist, sensors(1).alphaTilt, sensors(1).betaTilt);
             sensor2 = sensor2.initialize(sensors(2).alphaDist, sensors(2).betaDist, sensors(2).alphaTilt, sensors(2).betaTilt);
-            sensor1.plotParameters;
+            % sensor1.plotParameters;
-            sensor2.plotParameters;
+            % sensor2.plotParameters;
             c = struct('A_1_alpha', struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(1), 'doubleIntegrator', false), ...
                         'A_1_beta',  struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(1), 'doubleIntegrator', true), ...
                         'A_2_alpha', struct('objectivePos', [3, 1] / 4 .* results.domainSize(1:2), 'sensor', sensors(2), 'doubleIntegrator', false), ...
@@ -269,57 +269,57 @@ classdef results < matlab.unittest.TestCase
             tc.testClass = tc.testClass.teardown();
             close all;
         end
-        function AIIbeta_plots_3_4(tc)
+        % function AIIbeta_plots_3_4(tc)
-            % test-specific parameters
+        %     % test-specific parameters
-            tc.makePlots = true;
+        %     tc.makePlots = true;
-            tc.makeVideo = true;
+        %     tc.makeVideo = true;
-            maxIters = 400;
+        %     maxIters = 400;
-
+        % 
-            configs = results.makeConfigs();
+        %     configs = results.makeConfigs();
-            c = configs.A_2_alpha;
+        %     c = configs.A_2_alpha;
-            c.doubleIntegrator = true; % make a2alpha into a2beta
+        %     c.doubleIntegrator = true; % make a2alpha into a2beta
-
+        % 
-            % Set up fixed-size domain
+        %     % Set up fixed-size domain
-            minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);
+        %     minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);
-            tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
+        %     tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
-            
+        % 
-            % Set objective
+        %     % Set objective
-            objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4];
+        %     objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4];
-            objectiveSigma = reshape([215, 100; 100, 175], [1, 2, 2]);
+        %     objectiveSigma = reshape([215, 100; 100, 175], [1, 2, 2]);
-            tc.testClass.domain.objective = tc.testClass.domain.objective.initialize(objectiveFunctionWrapper(objectiveMu, objectiveSigma), tc.testClass.domain, tc.discretizationStep, tc.protectedRange, tc.sensorPerformanceMinimum, objectiveMu, objectiveSigma);
+        %     tc.testClass.domain.objective = tc.testClass.domain.objective.initialize(objectiveFunctionWrapper(objectiveMu, objectiveSigma), tc.testClass.domain, tc.discretizationStep, tc.protectedRange, tc.sensorPerformanceMinimum, objectiveMu, objectiveSigma);
-            
+        % 
-            % Set agent initial states (fully connected network of 4)
+        %     % Set agent initial states (fully connected network of 4)
-            centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4];
+        %     centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4];
-            d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4;
+        %     d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4;
-            agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d;
+        %     agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d;
-            agentAlt = minAlt * 1.5;
+        %     agentAlt = minAlt * 1.5;
-            agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5];
+        %     agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5];
-
+        % 
-            agents = {agent, agent, agent, agent};
+        %     agents = {agent, agent, agent, agent};
-            cg = spherical;
+        %     cg = spherical;
-            sensorModel = sigmoidSensor;
+        %     sensorModel = sigmoidSensor;
-            sensorModel = sensorModel.initialize(c.sensor.alphaDist, c.sensor.betaDist, c.sensor.alphaTilt, c.sensor.betaTilt);
+        %     sensorModel = sensorModel.initialize(c.sensor.alphaDist, c.sensor.betaDist, c.sensor.alphaTilt, c.sensor.betaTilt);
-            agents{1} = agents{1}.initialize(agentsPos(1, :), cg.initialize(agentsPos(1, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 1", false);
+        %     agents{1} = agents{1}.initialize(agentsPos(1, :), cg.initialize(agentsPos(1, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 1", false);
-            agents{2} = agents{2}.initialize(agentsPos(2, :), cg.initialize(agentsPos(2, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 2 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 2", false);
+        %     agents{2} = agents{2}.initialize(agentsPos(2, :), cg.initialize(agentsPos(2, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 2 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 2", false);
-            agents{3} = agents{3}.initialize(agentsPos(3, :), cg.initialize(agentsPos(3, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 3 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 3", false);
+        %     agents{3} = agents{3}.initialize(agentsPos(3, :), cg.initialize(agentsPos(3, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 3 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 3", false);
-            agents{4} = agents{4}.initialize(agentsPos(4, :), cg.initialize(agentsPos(4, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 4 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 4", false);
+        %     agents{4} = agents{4}.initialize(agentsPos(4, :), cg.initialize(agentsPos(4, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 4 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 4", false);
-            
+        % 
-            obstacles = cell(1, 1);
+        %     obstacles = cell(1, 1);
-            obstacles{1} = rectangularPrism;
+        %     obstacles{1} = rectangularPrism;
-            obstacles{1} = obstacles{1}.initialize([0, tc.domainSize(2)/2, 0; tc.domainSize(1) * 0.4, tc.domainSize(2), 40],REGION_TYPE.OBSTACLE, "Obstacle 1");
+        %     obstacles{1} = obstacles{1}.initialize([0, tc.domainSize(2)/2, 0; tc.domainSize(1) * 0.4, tc.domainSize(2), 40],REGION_TYPE.OBSTACLE, "Obstacle 1");
-
+        % 
-            % Set up simulation
+        %     % Set up simulation
-            tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, maxIters, obstacles, tc.makePlots, tc.makeVideo, c.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
+        %     tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, maxIters, obstacles, tc.makePlots, tc.makeVideo, c.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
-            
+        % 
-            % Save simulation parameters to output file
+        %     % Save simulation parameters to output file
-            tc.testClass.writeInits();
+        %     tc.testClass.writeInits();
-
+        % 
-            % Run
+        %     % Run
-            tc.testClass = tc.testClass.run();
+        %     tc.testClass = tc.testClass.run();
-
+        % 
-            % Cleanup
+        %     % Cleanup
-            tc.testClass = tc.testClass.teardown();
+        %     tc.testClass = tc.testClass.teardown();
-        end
+        % end
     end
 
     methods