Initializing domain, obstacles, objective, and agents

sensingObjective.m

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+classdef sensingObjective
+    % Sensing objective definition parent class
+    properties (SetAccess = private, GetAccess = public)
+        label = "";
+        groundAlt = 0;
+        groundPos = [0, 0];
+        discretizationStep = 1;
+        objectiveFunction = @(x, y) 0; % define objective functions over a grid in this manner
+        X = [];
+        Y = [];
+        values = [];
+    end
+
+    methods (Access = public)
+        function obj = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep)
+            arguments (Input)
+                obj (1,1) {mustBeA(obj, 'sensingObjective')};
+                objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
+                footprint (2, :) double;
+                groundAlt (1, 1) double = 0;
+                discretizationStep (1, 1) double = 1;
+            end
+            arguments (Output)
+                obj (1,1) {mustBeA(obj, 'sensingObjective')};
+            end
+
+            obj.groundAlt = groundAlt;
+
+            % Extract footprint limits
+            xMin = min(footprint(1, :));
+            xMax = max(footprint(1, :));
+            yMin = min(footprint(2, :));
+            yMax = max(footprint(2, :));
+
+            xGrid = unique([xMin:discretizationStep:xMax, xMax]);
+            yGrid = unique([yMin:discretizationStep:yMax, yMax]);
+            
+            % Store grid points for plotting later
+            [obj.X, obj.Y] = meshgrid(xGrid, yGrid);
+
+            % Evaluate function over grid points
+            obj.objectiveFunction = objectiveFunction;
+            obj.values = reshape(obj.objectiveFunction(obj.X, obj.Y), size(obj.X));
+
+            % store ground position
+            idx = obj.values == max(obj.values, [], "all");
+            obj.groundPos = [obj.X(idx), obj.Y(idx)];
+        end
+        function f = plot(obj, f)
+            arguments (Input)
+                obj (1,1) {mustBeA(obj, 'sensingObjective')};
+                f (1,1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                f (1,1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Create axes if they don't already exist
+            f = firstPlotSetup(f);
+
+            % Plot gradient on the "floor" of the domain
+            hold(f.CurrentAxes, "on");
+            s = surf(obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
+            s.HitTest = 'off';
+            s.PickableParts = 'none';
+            hold(f.CurrentAxes, "off");
+        end
+    end
+end