added performance plot legend, rolling normalization

@miSim/plotPerformance.m

@@ -24,5 +24,13 @@ function obj = plotPerformance(obj)
         hold(obj.fPerf.Children(1), 'off');
     end
 
+    % Add legend
+    agentStrings = repmat("Agent %d", size(obj.perf, 1) - 1, 1);
+    for ii = 1:size(agentStrings, 1)
+        agentStrings(ii) = sprintf(agentStrings(ii), ii);
+    end
+    agentStrings = ["Total"; agentStrings];
+    legend(obj.fPerf.Children(1), agentStrings, 'Location', 'northwest');
+
     obj.performancePlot = o;
 end

@miSim/updatePlots.m

@@ -40,13 +40,15 @@ function [obj] = updatePlots(obj, updatePartitions)
     
     % Update performance plot
     if updatePartitions
+        % find index corresponding to the current time
         nowIdx = [0; obj.partitioningTimes] == obj.t;
-        % set(obj.performancePlot(1), 'YData', obj.perf(end, 1:find(nowIdx)));
-        obj.performancePlot(1).YData(nowIdx) = obj.perf(end, nowIdx);
-        for ii = 2:size(obj.performancePlot, 1)
-            obj.performancePlot(ii).YData(nowIdx) = obj.perf(ii, nowIdx);
-        end
-        drawnow;
-    end
+        nowIdx = find(nowIdx);
 
+        % Re-normalize performance plot
+        normalizingFactor = 1/max(obj.perf(end, 1:nowIdx));
+        obj.performancePlot(1).YData(1:nowIdx) = obj.perf(end, 1:nowIdx) * normalizingFactor;
+        for ii = 2:size(obj.performancePlot, 1)
+            obj.performancePlot(ii).YData(1:nowIdx) = obj.perf(ii - 1, 1:nowIdx) * normalizingFactor;
+        end
+    end
 end

test/test_miSim.m

@@ -104,7 +104,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     if ii == 1
                         while agentsCrowdObjective(tc.domain.objective, candidatePos, mean(tc.domain.dimensions) / 2)
                             candidatePos = tc.domain.random();
-                            candidatePos(3) = 2  + rand * 2; % place agents at decent altitudes for sensing
+                            candidatePos(3) = 2  + rand * 1.5; % place agents at decent altitudes for sensing
                         end
                     else
                         candidatePos = tc.agents{randi(ii - 1)}.pos + sign(randn([1, 3])) .* (rand(1, 3) .* tc.comRange/sqrt(2));