fixed cone plotting all the way to ground

@agent/initialize.m

@@ -33,5 +33,5 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
 
     % Initialize FOV cone
     obj.fovGeometry = cone;
-    obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
+    obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:3)], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
 end

@agent/plot.m

@@ -36,5 +36,6 @@ function [obj, f] = plot(obj, ind, f)
     end
 
     % Plot FOV geometry
-    [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f);
+    maxAlt = f.Children(1).Children(end).ZLim(2); % to avoid scaling the FOV geometry as the sim runs, let's just make it really big and hide the excess under the floor of the domain. Check the domain altitude to figure out how big it needs to be to achieve this deception.
+    [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f, maxAlt);
 end

@agent/updatePlots.m

@@ -39,6 +39,7 @@ function updatePlots(obj)
     % Update FOV geometry surfaces
     for jj = 1:size(obj.fovGeometry.surface, 2)
         % Update each plot
+        % obj.fovGeometry = obj.fovGeometry.plot(obj.spatialPlotIndices)
         obj.fovGeometry.surface(jj).XData = obj.fovGeometry.surface(jj).XData + deltaPos(1);
         obj.fovGeometry.surface(jj).YData = obj.fovGeometry.surface(jj).YData + deltaPos(2);
         obj.fovGeometry.surface(jj).ZData = obj.fovGeometry.surface(jj).ZData + deltaPos(3);

geometries/@cone/cone.m

@@ -17,6 +17,6 @@ classdef cone
 
     methods (Access = public)
         [obj   ] = initialize(obj, center, radius, height, tag, label);
-        [obj, f] = plot(obj, ind, f);
+        [obj, f] = plot(obj, ind, f, maxAlt);
     end
 end

geometries/@cone/plot.m

@@ -1,8 +1,9 @@
-function [obj, f] = plot(obj, ind, f)
+function [obj, f] = plot(obj, ind, f, maxAlt)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'cone')};
         ind (1, :) double = NaN;
         f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+        maxAlt (1, 1) = 10;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'cone')};
@@ -12,16 +13,18 @@ function [obj, f] = plot(obj, ind, f)
     % Create axes if they don't already exist
     f = firstPlotSetup(f);
     
+    scalingFactor = (maxAlt / obj.height);
+
     % Plot cone
-    [X, Y, Z] = cylinder([obj.radius, 0], obj.n);
+    [X, Y, Z] = cylinder([scalingFactor * obj.radius, 0], obj.n);
     
     % Scale to match height
-    Z = Z * obj.height;
+    Z = Z * maxAlt;
     
     % Move to center location
     X = X + obj.center(1);
     Y = Y + obj.center(2);
-    Z = Z + obj.center(3);
+    Z = Z + obj.center(3) - maxAlt;
     
     % Plot
     if isnan(ind)

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/lJsL2R-bNQunxq-01eTS9mZYaLsd.xml

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

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/lJsL2R-bNQunxq-01eTS9mZYaLsp.xml

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

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/uMGDwEZ0yJ74zW0K0aO7UX4-C-Yd.xml

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

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/uMGDwEZ0yJ74zW0K0aO7UX4-C-Yp.xml

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

test/test_miSim.m

@@ -31,8 +31,8 @@ classdef test_miSim < matlab.unittest.TestCase
         objective = sensingObjective;
 
         % Agents
-        minAgents = 2; % Minimum number of agents to be randomly generated
+        minAgents = 3; % Minimum number of agents to be randomly generated
-        maxAgents = 2; % Maximum number of agents to be randomly generated
+        maxAgents = 4; % Maximum number of agents to be randomly generated
         sensingLength = 0.05; % length parameter used by sensing function
         agents = cell(0, 1);
         
@@ -591,7 +591,7 @@ classdef test_miSim < matlab.unittest.TestCase
             % Run the simulation
             tc.testClass = tc.testClass.run();
         end
-        function test_obstacle_blocks_comms_LOS(tc)
+        function test_obstacle_permits_comms_LOS(tc)
             % Fixed single obstacle
             % Fixed two agents initial conditions
             % Exaggerated large communications radius
@@ -631,7 +631,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, 0, tc.timestep, tc.partitoningFreq, nIter, tc.obstacles, false, false);
 
             % No communications link should be established
-            tc.assertEqual(tc.testClass.adjacency, logical(eye(2)));
+            tc.assertEqual(tc.testClass.adjacency, logical(true(2)));
         end
         function test_LNA_case_1(tc)
             % based on example in meeting