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updated plotting org

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This commit is contained in:
Kevin D
2025-11-16 15:44:01 -08:00
parent b9a2a83ac6
commit 86342c4572
10 changed files with 76 additions and 86 deletions
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5
@miSim/initialize.m
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@@ -1,4 +1,4 @@
function [obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles)
function obj = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
domain (1, 1) {mustBeGeometry};
@@ -11,7 +11,6 @@ function [obj, f] = initialize(obj, domain, objective, agents, timestep, partito
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Define simulation time parameters
@@ -38,5 +37,5 @@ function [obj, f] = initialize(obj, domain, objective, agents, timestep, partito
obj = obj.partition();
% Set up plots showing initialized state
[obj, f] = obj.plot();
obj = obj.plot();
end

23
@miSim/miSim.m
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@@ -13,14 +13,19 @@ classdef miSim
adjacency = NaN; % Adjacency matrix representing communications network graph
sensorPerformanceMinimum = 1e-6; % minimum sensor performance to allow assignment of a point in the domain to a partition
partitioning = NaN;
performance = NaN; % current cumulative sensor performance
end
properties (Access = private)
% Plot objects
f = firstPlotSetup(); % main plotting tiled layout figure
connectionsPlot; % objects for lines connecting agents in spatial plots
graphPlot; % objects for abstract network graph plot
partitionPlot; % objects for partition plot
fPerf = figure; % performance plot figure
performancePlot; % objects for sensor performance plot
% Indicies for various plot types in the main tiled layout figure
spatialPlotIndices = [6, 4, 3, 2];
objectivePlotIndices = [6, 4];
@@ -29,15 +34,15 @@ classdef miSim
end
methods (Access = public)
[obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles);
[obj, f] = run(obj, f);
[obj] = partition(obj);
[obj] = updateAdjacency(obj);
[obj, f] = plot(obj);
[obj, f] = plotConnections(obj, ind, f);
[obj, f] = plotPartitions(obj, ind, f);
[obj, f] = plotGraph(obj, ind, f);
[obj, f] = updatePlots(obj, f, updatePartitions);
[obj] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles);
[obj] = run(obj);
[obj] = partition(obj);
[obj] = updateAdjacency(obj);
[obj] = plot(obj);
[obj] = plotConnections(obj);
[obj] = plotPartitions(obj);
[obj] = plotGraph(obj);
[obj] = updatePlots(obj, updatePartitions);
end
methods (Access = private)
[v] = setupVideoWriter(obj);

3
@miSim/partition.m
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@@ -15,6 +15,9 @@ function obj = partition(obj)
% Get highest performance value at each point
[~, idx] = max(agentPerformances, [], 3);
% Current total performance
obj.performance = sum(max(agentPerformances(:, :, 1:(end - 1)), [], 3), 'all');
% Collect agent indices in the same way
agentInds = cellfun(@(x) x.index * ones(size(obj.objective.X)), obj.agents, 'UniformOutput', false);
agentInds{end + 1} = zeros(size(agentInds{end})); % index for no assignment

23
@miSim/plot.m
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@@ -1,41 +1,40 @@
function [obj, f] = plot(obj)
function obj = plot(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Plot domain
[obj.domain, f] = obj.domain.plotWireframe(obj.spatialPlotIndices);
[obj.domain, obj.f] = obj.domain.plotWireframe(obj.spatialPlotIndices);
% Plot obstacles
for ii = 1:size(obj.obstacles, 1)
[obj.obstacles{ii}, f] = obj.obstacles{ii}.plotWireframe(obj.spatialPlotIndices, f);
[obj.obstacles{ii}, obj.f] = obj.obstacles{ii}.plotWireframe(obj.spatialPlotIndices, obj.f);
end
% Plot objective gradient
f = obj.domain.objective.plot(obj.objectivePlotIndices, f);
obj.f = obj.domain.objective.plot(obj.objectivePlotIndices, obj.f);
% Plot agents and their collision geometries
for ii = 1:size(obj.agents, 1)
[obj.agents{ii}, f] = obj.agents{ii}.plot(obj.spatialPlotIndices, f);
[obj.agents{ii}, obj.f] = obj.agents{ii}.plot(obj.spatialPlotIndices, obj.f);
end
% Plot communication links
[obj, f] = obj.plotConnections(obj.spatialPlotIndices, f);
obj = obj.plotConnections();
% Plot abstract network graph
[obj, f] = obj.plotGraph(obj.networkGraphIndex, f);
obj = obj.plotGraph();
% Plot domain partitioning
[obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
obj = obj.plotPartitions();
% Enforce plot limits
for ii = 1:size(obj.spatialPlotIndices, 2)
xlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
ylim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
zlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
xlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
end
end

25
@miSim/plotConnections.m
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@@ -1,12 +1,9 @@
function [obj, f] = plotConnections(obj, ind, f)
function obj = plotConnections(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
ind (1, :) double = NaN;
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Iterate over lower triangle off-diagonal region of the
@@ -24,20 +21,20 @@ function [obj, f] = plotConnections(obj, ind, f)
X = X'; Y = Y'; Z = Z';
% Plot the connections
if isnan(ind)
hold(f.CurrentAxes, "on");
o = plot3(f.CurrentAxes, X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
hold(f.CurrentAxes, "off");
if isnan(obj.spatialPlotIndices)
hold(obj.f.CurrentAxes, "on");
o = plot3(obj.f.CurrentAxes, X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
hold(obj.f.CurrentAxes, "off");
else
hold(f.Children(1).Children(ind(1)), "on");
o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
hold(f.Children(1).Children(ind(1)), "off");
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "on");
o = plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), "off");
end
% Copy to other plots
if size(ind, 2) > 1
for ii = 2:size(ind, 2)
o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
if size(obj.spatialPlotIndices, 2) > 1
for ii = 2:size(obj.spatialPlotIndices, 2)
o = [o, copyobj(o(:, 1), obj.f.Children(1).Children(obj.spatialPlotIndices(ii)))];
end
end

23
@miSim/plotGraph.m
View File

@@ -1,29 +1,26 @@
function [obj, f] = plotGraph(obj, ind, f)
function obj = plotGraph(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
ind (1, :) double = NaN;
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Form graph from adjacency matrix
G = graph(obj.adjacency, 'omitselfloops');
% Plot graph object
if isnan(ind)
hold(f.CurrentAxes, 'on');
o = plot(f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
hold(f.CurrentAxes, 'off');
if isnan(obj.networkGraphIndex)
hold(obj.f.CurrentAxes, 'on');
o = plot(obj.f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
hold(obj.f.CurrentAxes, 'off');
else
hold(f.Children(1).Children(ind(1)), 'on');
o = plot(f.Children(1).Children(ind(1)), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
hold(f.Children(1).Children(ind(1)), 'off');
if size(ind, 2) > 1
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'on');
o = plot(obj.f.Children(1).Children(obj.networkGraphIndex(1)), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), 'off');
if size(obj.networkGraphIndex, 2) > 1
for ii = 2:size(ind, 2)
o = [o; copyobj(o(1), f.Children(1).Children(ind(ii)))];
o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];
end
end
end

23
@miSim/plotPartitions.m
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@@ -1,25 +1,22 @@
function [obj, f] = plotPartitions(obj, ind, f)
function obj = plotPartitions(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
ind (1, :) double = NaN;
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
if isnan(ind)
hold(f.CurrentAxes, 'on');
o = imagesc(f.CurrentAxes, obj.partitioning);
hold(f.CurrentAxes, 'off');
if isnan(obj.partitionGraphIndex)
hold(obj.f.CurrentAxes, 'on');
o = imagesc(obj.f.CurrentAxes, obj.partitioning);
hold(obj.f.CurrentAxes, 'off');
else
hold(f.Children(1).Children(ind(1)), 'on');
o = imagesc(f.Children(1).Children(ind(1)), obj.partitioning);
hold(f.Children(1).Children(ind(1)), 'on');
if size(ind, 2) > 1
hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
o = imagesc(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), obj.partitioning);
hold(obj.f.Children(1).Children(obj.partitionGraphIndex(1)), 'on');
if size(obj.partitionGraphIndex, 2) > 1
for ii = 2:size(ind, 2)
o = [o, copyobj(o(1), f.Children(1).Children(ind(ii)))];
o = [o, copyobj(o(1), obj.f.Children(1).Children(obj.partitionGraphIndex(ii)))];
end
end
end

13
@miSim/run.m
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@@ -1,16 +1,11 @@
function [obj, f] = run(obj, f)
function [obj] = run(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Create axes if they don't already exist
f = firstPlotSetup(f);
% Set up times to iterate over
times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
partitioningTimes = times(obj.partitioningFreq:obj.partitioningFreq:size(times, 1));
@@ -37,13 +32,13 @@ function [obj, f] = run(obj, f)
end
% Update adjacency matrix
obj = obj.updateAdjacency;
obj = obj.updateAdjacency();
% Update plots
[obj, f] = obj.updatePlots(f, updatePartitions);
obj = obj.updatePlots(updatePartitions);
% Write frame in to video
I = getframe(f);
I = getframe(obj.f);
v.writeVideo(I);
end

16
@miSim/updatePlots.m
View File

@@ -1,12 +1,10 @@
function [obj, f] = updatePlots(obj, f, updatePartitions)
function [obj] = updatePlots(obj, updatePartitions)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
updatePartitions (1, 1) logical = false;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
end
% Update agent positions, collision geometries
@@ -20,23 +18,23 @@ function [obj, f] = updatePlots(obj, f, updatePartitions)
% Update agent connections plot
delete(obj.connectionsPlot);
[obj, f] = obj.plotConnections(obj.spatialPlotIndices, f);
obj = obj.plotConnections();
% Update network graph plot
delete(obj.graphPlot);
[obj, f] = obj.plotGraph(obj.networkGraphIndex, f);
obj = obj.plotGraph();
% Update partitioning plot
if updatePartitions
delete(obj.partitionPlot);
[obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
obj = obj.plotPartitions();
end
% reset plot limits to fit domain
for ii = 1:size(obj.spatialPlotIndices, 2)
xlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
ylim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
zlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
xlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
end
drawnow;

8
test/test_miSim.m
View File

@@ -200,7 +200,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
end
function misim_run(tc)
% randomly create obstacles
@@ -330,10 +330,10 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
% Run simulation loop
[tc.testClass, f] = tc.testClass.run(f);
tc.testClass = tc.testClass.run(f);
end
function test_basic_partitioning(tc)
% place agents a fixed distance +/- X from the domain's center
@@ -370,7 +370,7 @@ classdef test_miSim < matlab.unittest.TestCase
% tc.agents{3} = tc.agents{3}.initialize(tc.domain.center - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, 3, sprintf("Agent %d", 3));
% Initialize the simulation
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter);
end
end