From 3b3cab2089ce1ff80624c348c07e4c124f73a793 Mon Sep 17 00:00:00 2001
From: Kevin D <krdee1@gmail.com>
Date: Wed, 1 Apr 2026 09:48:06 -0700
Subject: [PATCH] added full plotting from logged outputs

---
 @miSim/miSim.m           |  1 +
 @miSim/plotFromSimHist.m | 93 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 94 insertions(+)
 create mode 100644 @miSim/plotFromSimHist.m

diff --git a/@miSim/miSim.m b/@miSim/miSim.m
index 55f3545..5ca5056 100644
--- a/@miSim/miSim.m
+++ b/@miSim/miSim.m
@@ -72,6 +72,7 @@ classdef miSim
         [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo);
         [obj] = initializeFromCsv(obj, csvPath);
         [obj] = initializeFromInits(obj, initsPath);
+        [obj] = plotFromSimHist(obj, initsPath, histPath);
         [obj] = run(obj);
         [obj] = lesserNeighbor(obj);
         [obj] = constrainMotion(obj);
diff --git a/@miSim/plotFromSimHist.m b/@miSim/plotFromSimHist.m
new file mode 100644
index 0000000..8eee9c7
--- /dev/null
+++ b/@miSim/plotFromSimHist.m
@@ -0,0 +1,93 @@
+function obj = plotFromSimHist(obj, initsPath, histPath)
+% PLOTFROMSIMHIST  Reconstruct all three miSim plots from saved matfiles.
+%
+% Loads the simInits matfile to rebuild domain/obstacle/objective/agent
+% geometry, then loads the simHist matfile to restore the full time-history
+% arrays.  Produces the same three figures that a live run would generate:
+%   1. Sensor performance vs. time  (obj.fPerf)
+%   2. Barrier function values vs. time  (obj.hf)
+%   3. 3-D spatial figure with domain, obstacles, objective, agent trails,
+%      and final-timestep communications topology  (obj.f)
+%
+% Usage:
+%   sim = miSim;
+%   sim = sim.plotFromSimHist( ...
+%       'sandbox/2025_01_01_12_00_00_miSimHist.mat', ...
+%       'sandbox/2025_01_01_12_00_00_miSimInits.mat');
+
+arguments (Input)
+    obj       (1, 1) {mustBeA(obj, 'miSim')};
+    initsPath (1, 1) string;
+    histPath  (1, 1) string;
+end
+arguments (Output)
+    obj (1, 1) {mustBeA(obj, 'miSim')};
+end
+
+% ---- Reconstruct geometry from inits (plots disabled) --------------------
+obj = obj.initializeFromInits(initsPath);
+nAgents = size(obj.agents, 1);
+
+% ---- Load history data ---------------------------------------------------
+data = load(histPath);
+out  = data.out;
+
+nHistTimesteps = size(out.barriers, 2);
+nPosTimesteps  = size(out.agent(1).pos, 1);
+
+% ---- Populate barrier history --------------------------------------------
+% out.barriers may be narrower than the pre-allocated obj.barriers if the
+% run was shorter than maxIter; fill what we have and leave the rest NaN.
+obj.barriers(:, 1:nHistTimesteps) = out.barriers;
+
+% ---- Populate position history and advance agents to final positions -----
+for ii = 1:nAgents
+    agentPos = out.agent(ii).pos;           % (nPosTimesteps × 3)
+    nPts = size(agentPos, 1);
+    obj.posHist(ii, 1:nPts, :) = reshape(agentPos, [1, nPts, 3]);
+    obj.agents{ii}.pos = agentPos(end, :);  % show final position in spatial plot
+end
+
+% ---- Set final constraint topology ---------------------------------------
+obj.constraintAdjacencyMatrix = out.constraintAdjacency(:, :, end);
+
+% ---- Recompute partitioning at final agent positions ---------------------
+obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
+
+% ---- Enable plotting and produce spatial + barrier figures ---------------
+obj.makePlots = true;
+obj = obj.plot();
+
+% ---- Performance figure (built directly — live machinery is incremental) -
+nPerfTimesteps = numel(out.perf);
+times = (0:nPerfTimesteps - 1) * obj.timestep;
+normFactor = 1 / max(out.perf);
+
+obj.fPerf = figure;
+ax = axes(obj.fPerf);
+hold(ax, "on");
+title(ax,  "Sensor Performance");
+xlabel(ax, "Time (s)");
+ylabel(ax, "Sensor Performance");
+grid(ax, "on");
+
+legendStrings = strings(nAgents + 1, 1);
+legendStrings(1) = "Total";
+plot(ax, times, out.perf * normFactor, "LineWidth", 1.5);
+for ii = 1:nAgents
+    agentPerf  = out.agent(ii).perf;
+    agentTimes = times(1:numel(agentPerf));
+    plot(ax, agentTimes, agentPerf * normFactor);
+    if isfield(out.agent(ii), 'label')
+        legendStrings(ii + 1) = string(out.agent(ii).label);
+    else
+        legendStrings(ii + 1) = sprintf("Agent %d", ii);
+    end
+end
+legend(ax, legendStrings, "Location", "northwest");
+hold(ax, "off");
+
+% Bring spatial figure to the front
+figure(obj.f);
+
+end