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full simulation with RF sensors

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This commit is contained in:
Kevin Dee
2026-05-08 13:07:03 -07:00
parent 030dd30c7d
commit 78f9dcd579
12 changed files with 312 additions and 87 deletions
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@miSim/run.m
+9 -2
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@@ -25,9 +25,16 @@ function [obj] = run(obj)
obj.validate();
end
% Clear RF sensor caches
if isa(obj.agents{1}.sensorModel, "rfSensor")
for ss = 1:size(obj.agents, 1)
obj.agents{ss}.sensorModel = obj.agents{ss}.sensorModel.clearRssCache;
end
end
% Update partitioning before moving (this one is strictly for
% plotting purposes, the real partitioning is done by the agents)
obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
[obj.partitioning, obj.agents] = obj.agents{1}.partition(obj.agents, obj.domain.objective);
% Determine desired communications links
if ~obj.useFixedTopology
@@ -42,7 +49,7 @@ function [obj] = run(obj)
% Moving
% Iterate over agents to simulate their unconstrained motion
for jj = 1:size(obj.agents, 1)
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep, obj.optimizeSensorPointing);
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.timestepIndex, jj, obj.useDoubleIntegrator, obj.dampingCoeff, obj.timestep, obj.optimizeSensorPointing, obj.agents([1:(jj - 1), (jj + 1):size(obj.agents, 1)]));
end
% Adjust motion determined by unconstrained gradient ascent using