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fixed performance plotting

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This commit is contained in:
Kevin Dee
2026-01-11 14:41:27 -08:00
parent ec202d7790
commit 796e2f322a
5 changed files with 51 additions and 39 deletions
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6
@agent/initialize.m
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@@ -1,4 +1,4 @@
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, comRange, label, plotCommsGeometry)
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, comRange, maxIter, label, plotCommsGeometry)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'agent')};
pos (1, 3) double;
@@ -8,6 +8,7 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
collisionGeometry (1, 1) {mustBeGeometry};
sensorModel (1, 1) {mustBeSensor};
comRange (1, 1) double;
maxIter (1, 1) double;
label (1, 1) string = "";
plotCommsGeometry (1, 1) logical = false;
end
@@ -24,6 +25,9 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
obj.label = label;
obj.plotCommsGeometry = plotCommsGeometry;
% Initialize performance vector
obj.performance = [0, NaN(1, maxIter), 0];
% Add spherical geometry based on com range
obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label));

3
@agent/run.m
View File

@@ -59,6 +59,9 @@ function obj = run(obj, domain, partitioning, timestepIndex, index, agents)
C_delta(ii) = sum(C(~isnan(C)));
end
% Store agent performance at current time and place
obj.performance(timestepIndex + 1) = C_delta(1);
% Compute gradient by finite central differences
gradC = [(C_delta(2)-C_delta(3))/(2*delta), (C_delta(4)-C_delta(5))/(2*delta), (C_delta(6)-C_delta(7))/(2*delta)];