started plot3 work

plot1.m

@@ -38,11 +38,20 @@ for ii = 1:length(simHists)
         assert(hist.out.agent(jj).commsRadius == commsRadius(ii));
         assert(hist.out.agent(jj).collisionRadius == collisionRadius(ii));
     end
+
+    alphaDist2 = unique(alphaDist);
+    if length(alphaDist2) > 1
+        alphaDist2 = alphaDist2(1);
+    end
+    if doubleIntegrator(ii) && unique(alphaDist(:, ii)) == alphaDist2 && numObjective(ii) == 1
+        a2betaIdx = ii;
+        a2beta = struct("init", init, "hist", hist.out);
+    end
 end
 
 commsRadius = unique(commsRadius); assert(isscalar(commsRadius));
 collisionRadius = unique(collisionRadius); assert(isscalar(collisionRadius));
-sensors = unique(alphaDist(1, :));
+sensors = flip(unique(alphaDist(1, :)));
 
 config = [];
 for ii = 1:length(simHists)
@@ -72,6 +81,7 @@ for ii = 1:length(simHists)
     config = [config; s];
 end
 
+%%
 close all;
 f1 = figure;
 x1 = axes;
@@ -91,6 +101,7 @@ legend(["$AI\alpha$"; "$AI\beta$"; "$AII\alpha$"; "$BI\beta$"], "Interpreter", "
 grid("on");
 ylim([0, 1]);
 
+%%
 f2 = figure;
 x2 = axes;
 
@@ -154,4 +165,18 @@ grid(x2, "on");
 yline(collisionRadius, 'r--', "Label", "Collision Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
 yline(commsRadius, 'r--', "Label", "Communications Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
 
-ylim([0, inf]);
+ylim([0, inf]);
+
+f3 = figure;
+x3 = axes;
+assert(size(a2beta.init.objectivePos, 1) == 1)
+assert(a2beta.hist.useDoubleIntegrator);
+assert(a2beta.hist.agent(1).sensor.alphaDist == sensors(2))
+
+plot(a2beta.hist.perf./a2beta.init.objectiveIntegral);
+hold("on");
+for ii = 1:length(a2beta.hist.agent)
+    plot(a2beta.hist.agent(ii).perf./a2beta.init.objectiveIntegral);
+end
+grid("on");
+xlabel("Performance");

test/results.m

@@ -266,8 +266,52 @@ classdef results < matlab.unittest.TestCase
             close all;
         end
         function AIIbeta_plots_3_4(tc)
+            % test-specific parameters
+            maxIters = 400;
+
             configs = results.makeConfigs();
-            config = configs.A_2_alpha;
+            c = configs.A_2_alpha;
+
+            % Set up fixed-size domain
+            minAlt = tc.domainSize(3)/10 + rand * 1/10 * tc.domainSize(3);
+            tc.testClass.domain = tc.testClass.domain.initialize([zeros(1, 3); tc.domainSize], REGION_TYPE.DOMAIN, "Domain");
+            
+            % Set objective
+            objectiveMu = [tc.domainSize(1) * 2 / 3, tc.domainSize(2) * 3 / 4];
+            objectiveSigma = reshape([215, 100; 100, 175], [1, 2, 2]);
+            tc.testClass.domain.objective = tc.testClass.domain.objective.initialize(objectiveFunctionWrapper(objectiveMu, objectiveSigma), tc.testClass.domain, tc.discretizationStep, tc.protectedRange, tc.sensorPerformanceMinimum, objectiveMu, objectiveSigma);
+            
+            % Set agent initial states (fully connected network of 4)
+            centerPos = [tc.domainSize(1) / 4, tc.domainSize(2) / 4];
+            d = tc.collisionRadius + (tc.comRange - tc.collisionRadius) / 4;
+            agentsPos = centerPos + [1, 1; 1, -1; -1, -1; -1, 1] / sqrt(2) * d;
+            agentAlt = minAlt * 1.5;
+            agentsPos = [agentsPos, agentAlt * ones(4, 1) + rand * 5 - 2.5];
+
+            agents = {agent, agent, agent, agent};
+            cg = spherical;
+            sensorModel = sigmoidSensor;
+            sensorModel = sensorModel.initialize(c.sensor.alphaDist, c.sensor.betaDist, c.sensor.alphaTilt, c.sensor.betaTilt);
+            agents{1} = agents{1}.initialize(agentsPos(1, :), cg.initialize(agentsPos(1, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 1 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 1", false);
+            agents{2} = agents{2}.initialize(agentsPos(2, :), cg.initialize(agentsPos(2, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 2 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 2", false);
+            agents{3} = agents{3}.initialize(agentsPos(3, :), cg.initialize(agentsPos(3, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 3 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 3", false);
+            agents{4} = agents{4}.initialize(agentsPos(4, :), cg.initialize(agentsPos(4, :), tc.collisionRadius, REGION_TYPE.COLLISION, "Agent 4 Collision Geometry"), sensorModel, tc.comRange, maxIters, tc.initialStepSize, "Agent 4", false);
+            
+            obstacles = cell(1, 1);
+            obstacles{1} = rectangularPrism;
+            obstacles{1} = obstacles{1}.initialize([0, tc.domainSize(2)/2, 0; tc.domainSize(1) * 0.4, tc.domainSize(2), 40],REGION_TYPE.OBSTACLE, "Obstacle 1");
+
+            % Set up simulation
+            tc.testClass = tc.testClass.initialize(tc.testClass.domain, agents, tc.barrierGain, tc.barrierExponent, minAlt, tc.timestep, maxIters, obstacles, tc.makePlots, tc.makeVideo, c.doubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
+            
+            % Save simulation parameters to output file
+            tc.testClass.writeInits();
+
+            % Run
+            tc.testClass = tc.testClass.run();
+
+            % Cleanup
+            tc.testClass = tc.testClass.teardown();
         end
     end