CSV parametric testing

@miSim/miSim.m

@@ -67,8 +67,8 @@ classdef miSim
         [obj] = plotTrails(obj);
         [obj] = plotH(obj);
         [obj] = updatePlots(obj);
+        [obj] = teardown(obj);
         validate(obj);
-        teardown(obj);
     end
     methods (Access = private)
         [v] = setupVideoWriter(obj);

@miSim/teardown.m

@@ -1,8 +1,9 @@
-function teardown(obj)
+function obj = teardown(obj)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
     arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
     end
 
     % Close plots
@@ -10,4 +11,13 @@ function teardown(obj)
     close(obj.fPerf);
     close(obj.f);
 
+    % Reset accumulators
+    obj.performance = 0;
+
+    % Reset agents
+    for ii = 1:size(obj.agents, 1)
+        obj.agents{ii} = agent;
+    end
+
+
 end

@miSim/writeParams.m

@@ -12,11 +12,15 @@ function writeParams(obj)
     alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
     betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
     comRange = cellfun(@(x) x.commsGeometry.radius, obj.agents);
+    initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
 
     % Combine with simulation parameters
     params = struct('timestep', obj.timestep, 'maxIter', obj.maxIter, 'minAlt', obj.obstacles{end}.maxCorner(3), 'discretizationStep', obj.domain.objective.discretizationStep, ...
-                    'collisionRadius', collisionRadii, 'alphaDist', alphaDist, 'betaDist', betaDist, ...
-                    'alphaTilt', alphaTilt, 'betaTilt', betaTilt, 'comRange', comRange);
+                    'sensorPerformanceMinimum', obj.domain.objective.sensorPerformanceMinimum, 'collisionRadius', collisionRadii, 'alphaDist', alphaDist, 'betaDist', betaDist, ...
+                    'alphaTilt', alphaTilt, 'betaTilt', betaTilt, 'comRange', comRange, 'initialStepSize', initialStepSize, 'barrierGain', obj.barrierGain, 'barrierExponent', obj.barrierExponent ...
+                    );
+
+    % TODO add sensorPerformanceMinimum
 
     % Save all parameters to output file
     paramsFile = strcat(obj.artifactName, "_miSimParams");