Initializing domain, obstacles, objective, and agents

miSim.m

@@ -0,0 +1,64 @@
+classdef miSim
+    % multiagent interconnection simulation
+
+    % Simulation parameters
+    properties (SetAccess = private, GetAccess = public)
+        domain = rectangularPrismConstraint;
+        objective = sensingObjective;
+        constraintGeometries = cell(0, 1); % geometries that define constraints within the domain
+        agents = cell(0, 1); % agents that move within the domain
+    end
+
+    methods (Access = public)
+        function obj = initialize(obj, domain, objective, agents, constraintGeometries)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+                domain (1, 1) {mustBeConstraintGeometries};
+                objective (1, 1) {mustBeA(objective, 'sensingObjective')};
+                agents (:, 1) cell {mustBeAgents};
+                constraintGeometries (:, 1) cell {mustBeConstraintGeometries} = cell(0, 1);
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'miSim')};
+            end
+
+            %% Define domain
+            obj.domain = domain;
+
+            %% Add constraint geometries against the domain
+            obj.constraintGeometries = constraintGeometries;
+
+            %% Define objective
+            obj.objective = objective;
+
+            %% Define agents
+            obj.agents = agents;
+
+        end
+    end
+
+    methods (Access = private)
+        function validateInitialization(obj)
+            % Assert obstacles do not intersect with the domain
+
+            % Assert obstacles do not intersect with each other
+
+            % Assert the objective has only one maxima within the domain
+
+            % Assert the objective's sole maximum is not inaccessible due
+            % to the placement of an obstacle
+
+        end
+        function validateLoop(obj)
+            % Assert that agents are safely inside the domain
+
+            % Assert that agents are not in proximity to obstacles
+
+            % Assert that agents are not in proximity to each other
+
+            % Assert that agents form a connected graph
+
+
+        end
+    end
+end