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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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30
miSim.m
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@@ -4,6 +4,7 @@ classdef miSim
% Simulation parameters
properties (SetAccess = private, GetAccess = public)
timestep = NaN; % delta time interval for simulation iterations
partitioningFreq = NaN; % number of simulation timesteps at which the partitioning routine is re-run
maxIter = NaN; % maximum number of simulation iterations
domain = rectangularPrism;
objective = sensingObjective;
@@ -27,13 +28,14 @@ classdef miSim
end
methods (Access = public)
function [obj, f] = initialize(obj, domain, objective, agents, timestep, maxIter, obstacles)
function [obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
domain (1, 1) {mustBeGeometry};
objective (1, 1) {mustBeA(objective, 'sensingObjective')};
agents (:, 1) cell;
timestep (:, 1) double = 0.05;
partitoningFreq (:, 1) double = 0.25
maxIter (:, 1) double = 1000;
obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
end
@@ -48,6 +50,7 @@ classdef miSim
% Define domain
obj.domain = domain;
obj.partitioningFreq = partitoningFreq;
% Add geometries representing obstacles within the domain
obj.obstacles = obstacles;
@@ -106,6 +109,7 @@ classdef miSim
% Set up times to iterate over
times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
partitioningTimes = times(obj.partitioningFreq:obj.partitioningFreq:size(times, 1));
% Start video writer
v = setupVideoWriter(obj.timestep);
@@ -116,16 +120,23 @@ classdef miSim
t = times(ii);
fprintf("Sim Time: %4.2f (%d/%d)\n", t, ii, obj.maxIter)
% Check if it's time for new partitions
updatePartitions = false;
if ismember(t, partitioningTimes)
updatePartitions = true;
obj = obj.partition();
end
% Iterate over agents to simulate their motion
for jj = 1:size(obj.agents, 1)
obj.agents{jj} = obj.agents{jj}.run(obj.objective.objectiveFunction, obj.domain);
obj.agents{jj} = obj.agents{jj}.run(obj.objective, obj.domain, obj.partitioning);
end
% Update adjacency matrix
obj = obj.updateAdjacency;
% Update plots
[obj, f] = obj.updatePlots(f);
[obj, f] = obj.updatePlots(f, updatePartitions);
% Write frame in to video
I = getframe(f);
@@ -160,10 +171,11 @@ classdef miSim
[i,j] = ndgrid(1:m, 1:n);
obj.partitioning = agentInds(sub2ind(size(agentInds), i, j, idx));
end
function [obj, f] = updatePlots(obj, f)
function [obj, f] = updatePlots(obj, f, updatePartitions)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
updatePartitions (1, 1) logical = false;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
@@ -181,11 +193,17 @@ classdef miSim
% Update agent connections plot
delete(obj.connectionsPlot);
[obj, f] = obj.plotConnections(f);
[obj, f] = obj.plotConnections(obj.spatialPlotIndices, f);
% Update network graph plot
delete(obj.graphPlot);
[obj, f] = obj.plotGraph(f);
[obj, f] = obj.plotGraph(obj.networkGraphIndex, f);
% Update partitioning plot
if updatePartitions
delete(obj.partitionPlot);
[obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
end
drawnow;
end