added communications geometry

@agent/agent.m

@@ -28,6 +28,7 @@ classdef agent
 
         % Communication
         comRange = NaN;
+        commsGeometry = spherical;
 
         performance = 0;
 
@@ -35,6 +36,7 @@ classdef agent
         scatterPoints;
         debug = false;
         debugFig;
+        plotCommsGeometry = true;
     end
 
     methods (Access = public)

@agent/initialize.m

@@ -1,4 +1,4 @@
-function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label, debug)
+function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label, debug, plotCommsGeometry)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'agent')};
         pos (1, 3) double;
@@ -12,6 +12,7 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
         index (1, 1) double = NaN;
         label (1, 1) string = "";
         debug (1, 1) logical = false;
+        plotCommsGeometry (1, 1) logical = true;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'agent')};
@@ -24,10 +25,13 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
     obj.collisionGeometry = collisionGeometry;
     obj.sensorModel = sensorModel;
     obj.guidanceModel = guidanceModel;
-    obj.comRange = comRange;
     obj.index = index;
     obj.label = label;
     obj.debug = debug;
+    obj.plotCommsGeometry = plotCommsGeometry;
+
+    % Add spherical geometry based on com range
+    obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("Agent %d Comms Geometry", obj.index));
 
     if obj.debug
         obj.debugFig = figure;

@agent/plot.m

@@ -30,6 +30,11 @@ function [obj, f] = plot(obj, ind, f)
     % Plot collision geometry
     [obj.collisionGeometry, f] = obj.collisionGeometry.plotWireframe(ind, f);
 
+    % Plot communications geometry
+    if obj.plotCommsGeometry
+        [obj.commsGeometry, f] = obj.commsGeometry.plotWireframe(ind, f);
+    end
+
     % Plot FOV geometry
     [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f);
 end

@agent/updatePlots.m

@@ -25,6 +25,17 @@ function updatePlots(obj)
         end
     end
 
+    % Communications geometry edges
+    if obj.plotCommsGeometry
+        for jj = 1:size(obj.commsGeometry.lines, 2)
+            for ii = 1:size(obj.collisionGeometry.lines(:, jj), 1)
+                obj.collisionGeometry.lines(ii, jj).XData = obj.collisionGeometry.lines(ii, jj).XData + deltaPos(1);
+                obj.collisionGeometry.lines(ii, jj).YData = obj.collisionGeometry.lines(ii, jj).YData + deltaPos(2);
+                obj.collisionGeometry.lines(ii, jj).ZData = obj.collisionGeometry.lines(ii, jj).ZData + deltaPos(3);
+            end
+        end
+    end
+
     % Update FOV geometry surfaces
     for jj = 1:size(obj.fovGeometry.surface, 2)
         % Update each plot

@miSim/plot.m

@@ -22,7 +22,7 @@ function obj = plot(obj)
     % Plot objective gradient
     obj.f = obj.domain.objective.plot(obj.objectivePlotIndices, obj.f);
 
-    % Plot agents and their collision geometries
+    % Plot agents and their collision/communications geometries
     for ii = 1:size(obj.agents, 1)
         [obj.agents{ii}, obj.f] = obj.agents{ii}.plot(obj.spatialPlotIndices, obj.f);
     end

@miSim/updatePlots.m

@@ -12,7 +12,7 @@ function [obj] = updatePlots(obj, updatePartitions)
         return;
     end
 
-    % Update agent positions, collision geometries
+    % Update agent positions, collision/communication geometries
     for ii = 1:size(obj.agents, 1)
         obj.agents{ii}.updatePlots();
     end

geometries/REGION_TYPE.m

@@ -9,6 +9,7 @@ classdef REGION_TYPE
         OBSTACLE (2, [255, 127, 127]); % obstacle region
         COLLISION (3, [255, 255, 128]); % collision avoidance region
         FOV (4, [255, 165, 0]); % field of view region
+        COMMS (5, [0, 255, 0]); % comunications region
     end
     methods
         function obj = REGION_TYPE(id, color)

test/test_miSim.m

@@ -6,6 +6,7 @@ classdef test_miSim < matlab.unittest.TestCase
         % Debug
         makeVideo = true; % disable video writing for big performance increase
         makePlots = true; % disable plotting for big performance increase (also disables video)
+        plotCommsGeometry = false; % disable plotting communications geometries
 
         % Sim
         maxIter = 250;
@@ -484,7 +485,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, 2, sprintf("Agent %d", 2), false);
 
             % Initialize the simulation
-            tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, cell(0, 1), tc.maxIter, tc.makeVideo);
+            tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo, tc.makePlots);
             
             % Run the simulation
             tc.testClass.run();
@@ -515,8 +516,8 @@ classdef test_miSim < matlab.unittest.TestCase
 
             % Initialize agents
             tc.agents = {agent; agent;};
-            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 5*radius, 1, sprintf("Agent %d", 1), false);
+            tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 4, 1, sprintf("Agent %d", 1), false, false);
-            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 5*radius, 2, sprintf("Agent %d", 2), false);
+            tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0] - [0, 1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 4, 2, sprintf("Agent %d", 2), false, false);
             
             % Initialize obstacles
             obstacleLength = 1;