potential videowriter compat fix

agent.m

@@ -15,7 +15,8 @@ classdef agent
         lastPos = NaN(1, 3); % position from previous timestep
         pos = NaN(1, 3); % current position
         vel = NaN(1, 3); % current velocity
-        cBfromC = NaN(3); % current DCM body from sim cartesian (assume fixed for now)
+        pan = NaN; % pan angle
+        tilt = NaN; % tilt angle
 
         % Collision
         collisionGeometry;
@@ -28,12 +29,13 @@ classdef agent
     end
 
     methods (Access = public)
-        function obj = initialize(obj, pos, vel, cBfromC, collisionGeometry, sensorModel, guidanceModel, comRange, index, label)
+        function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label)
             arguments (Input)
                 obj (1, 1) {mustBeA(obj, 'agent')};
                 pos (1, 3) double;
                 vel (1, 3) double;
-                cBfromC (3, 3) double {mustBeDcm};
+                pan (1, 1) double;
+                tilt (1, 1) double;
                 collisionGeometry (1, 1) {mustBeGeometry};
                 sensorModel (1, 1) {mustBeSensor}
                 guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')};
@@ -47,7 +49,8 @@ classdef agent
 
             obj.pos = pos;
             obj.vel = vel;
-            obj.cBfromC = cBfromC;
+            obj.pan = pan;
+            obj.tilt = tilt;
             obj.collisionGeometry = collisionGeometry;
             obj.sensorModel = sensorModel;
             obj.guidanceModel = guidanceModel;

miSim.m

@@ -13,7 +13,6 @@ classdef miSim
     end
 
     properties (Access = private)
-        v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')));
         connectionsPlot; % objects for lines connecting agents in spatial plots
         graphPlot; % objects for abstract network graph plot
     end
@@ -94,9 +93,8 @@ classdef miSim
             times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
 
             % Start video writer
-            % obj.v.FrameRate = 1/obj.timestep;
-            % obj.v.Quality = 90;
-            obj.v.open();
+            v = setupVideoWriter(obj.timestep);
+            v.open();
 
             for ii = 1:size(times, 1)
                 % Display current sim time
@@ -116,11 +114,11 @@ classdef miSim
 
                 % Write frame in to video
                 I = getframe(f);
-                obj.v.writeVideo(I);
+                v.writeVideo(I);
             end
 
             % Close video file
-            obj.v.close();
+            v.close();
         end
         function [obj, f] = updatePlots(obj, f)
             arguments (Input)

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/G4ZDRUCYKeWyePBmClgd0b2gv90d.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/G4ZDRUCYKeWyePBmClgd0b2gv90p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="setupVideoWriter.m" type="File"/>

setupVideoWriter.m

@@ -0,0 +1,17 @@
+function v = setupVideoWriter(timestep)
+    arguments (Input)
+        timestep (1, 1) double;
+    end
+    arguments (Output)
+        v (1, 1) {mustBeA(v, 'VideoWriter')};
+    end
+
+    if ispc || ismac
+        v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'MPEG-4');
+    elseif isunix
+        v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI');
+    end
+    
+    v.FrameRate = 1/timestep;
+    v.Quality = 90;
+end

test_miSim.m

@@ -194,7 +194,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     sensor = sensor.initialize(tc.sensingLength);
 
                     % Initialize candidate agent
-                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3), candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); 
+                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); 
 
                     % Make sure candidate agent doesn't collide with
                     % domain
@@ -362,7 +362,7 @@ classdef test_miSim < matlab.unittest.TestCase
                     sensor.initialize(tc.sensingLength);
 
                     % Initialize candidate agent
-                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), eye(3), candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
+                    newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii));
                     
                     % Make sure candidate agent doesn't collide with
                     % domain

validators/arguments/mustBeDcm.m

@@ -1,12 +0,0 @@
-function mustBeDcm(dcm)
-    % Assert 2D
-    assert(numel(size(dcm)) == 2, "DCM is not 2D");
-    % Assert square
-    assert(size(unique(size(dcm)), 1) == 1, "DCM is not a square matrix");
-
-    epsilon = 1e-9;
-    % Assert inverse equivalent to transpose
-    assert(all(abs(inv(dcm) - dcm') < epsilon, "all"), "DCM inverse is not equivalent to transpose");
-    % Assert determinant is 1
-    assert(det(dcm) > 1 - epsilon && det(dcm) < 1 + epsilon, "DCM has determinant not equal to 1");
-end