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partitioning introduced to main loop

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Kevin D
2025-11-12 18:13:43 -08:00
parent 9e948072e8
commit 3d35179579
6 changed files with 75 additions and 36 deletions
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7
agent.m
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@@ -58,18 +58,19 @@ classdef agent
obj.index = index;
obj.label = label;
end
function obj = run(obj, objectiveFunction, domain)
function obj = run(obj, sensingObjective, domain, partitioning)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'agent')};
objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')};
domain (1, 1) {mustBeGeometry};
partitioning (:, :) double;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'agent')};
end
% Do sensing
[sensedValues, sensedPositions] = obj.sensorModel.sense(objectiveFunction, domain, obj.pos);
[sensedValues, sensedPositions] = obj.sensorModel.sense(obj, sensingObjective, domain, partitioning);
% Determine next planned position
nextPos = obj.guidanceModel(sensedValues, sensedPositions, obj.pos);