diff --git a/@agent/agent.m b/@agent/agent.m new file mode 100644 index 0000000..51af2db --- /dev/null +++ b/@agent/agent.m @@ -0,0 +1,40 @@ +classdef agent + properties (SetAccess = private, GetAccess = public) + % Identifiers + index = NaN; + label = ""; + + % Sensor + sensorModel; + sensingLength = 0.05; % length parameter used by sensing function + + % Guidance + guidanceModel; + + % State + lastPos = NaN(1, 3); % position from previous timestep + pos = NaN(1, 3); % current position + vel = NaN(1, 3); % current velocity + pan = NaN; % pan angle + tilt = NaN; % tilt angle + + % Collision + collisionGeometry; + + % FOV cone + fovGeometry; + + % Communication + comRange = NaN; + + % Plotting + scatterPoints; + end + + methods (Access = public) + [obj] = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label); + [obj] = run(obj, sensingObjective, domain, partitioning); + [obj, f] = plot(obj, ind, f); + updatePlots(obj); + end +end \ No newline at end of file diff --git a/@agent/initialize.m b/@agent/initialize.m new file mode 100644 index 0000000..5e8f00c --- /dev/null +++ b/@agent/initialize.m @@ -0,0 +1,33 @@ +function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'agent')}; + pos (1, 3) double; + vel (1, 3) double; + pan (1, 1) double; + tilt (1, 1) double; + collisionGeometry (1, 1) {mustBeGeometry}; + sensorModel (1, 1) {mustBeSensor} + guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')}; + comRange (1, 1) double = NaN; + index (1, 1) double = NaN; + label (1, 1) string = ""; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'agent')}; + end + + obj.pos = pos; + obj.vel = vel; + obj.pan = pan; + obj.tilt = tilt; + obj.collisionGeometry = collisionGeometry; + obj.sensorModel = sensorModel; + obj.guidanceModel = guidanceModel; + obj.comRange = comRange; + obj.index = index; + obj.label = label; + + % Initialize FOV cone + obj.fovGeometry = cone; + obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], tan(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label)); +end \ No newline at end of file diff --git a/@agent/plot.m b/@agent/plot.m new file mode 100644 index 0000000..1b92e7f --- /dev/null +++ b/@agent/plot.m @@ -0,0 +1,35 @@ +function [obj, f] = plot(obj, ind, f) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'agent')}; + ind (1, :) double = NaN; + f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'agent')}; + f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; + end + + % Create axes if they don't already exist + f = firstPlotSetup(f); + + % Plot points representing the agent position + hold(f.Children(1).Children(end), "on"); + o = scatter3(f.Children(1).Children(end), obj.pos(1), obj.pos(2), obj.pos(3), 'filled', 'ko', 'SizeData', 25); + hold(f.Children(1).Children(end), "off"); + + % Check if this is a tiled layout figure + if strcmp(f.Children(1).Type, 'tiledlayout') + % Add to other perspectives + o = [o; copyobj(o(1), f.Children(1).Children(2))]; + o = [o; copyobj(o(1), f.Children(1).Children(3))]; + o = [o; copyobj(o(1), f.Children(1).Children(4))]; + end + + obj.scatterPoints = o; + + % Plot collision geometry + [obj.collisionGeometry, f] = obj.collisionGeometry.plotWireframe(ind, f); + + % Plot FOV geometry + [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f); +end \ No newline at end of file diff --git a/@agent/run.m b/@agent/run.m new file mode 100644 index 0000000..fb901b3 --- /dev/null +++ b/@agent/run.m @@ -0,0 +1,28 @@ +function obj = run(obj, sensingObjective, domain, partitioning) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'agent')}; + sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')}; + domain (1, 1) {mustBeGeometry}; + partitioning (:, :) double; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'agent')}; + end + + % Do sensing + [sensedValues, sensedPositions] = obj.sensorModel.sense(obj, sensingObjective, domain, partitioning); + + % Determine next planned position + nextPos = obj.guidanceModel(sensedValues, sensedPositions, obj.pos); + + % Move to next position + % (dynamics not modeled at this time) + obj.lastPos = obj.pos; + obj.pos = nextPos; + + % Calculate movement + d = obj.pos - obj.collisionGeometry.center; + + % Reinitialize collision geometry in the new position + obj.collisionGeometry = obj.collisionGeometry.initialize([obj.collisionGeometry.minCorner; obj.collisionGeometry.maxCorner] + d, obj.collisionGeometry.tag, obj.collisionGeometry.label); +end \ No newline at end of file diff --git a/@agent/updatePlots.m b/@agent/updatePlots.m new file mode 100644 index 0000000..4900e73 --- /dev/null +++ b/@agent/updatePlots.m @@ -0,0 +1,35 @@ +function updatePlots(obj) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'agent')}; + end + arguments (Output) + end + + % Scatterplot point positions + for ii = 1:size(obj.scatterPoints, 1) + obj.scatterPoints(ii).XData = obj.pos(1); + obj.scatterPoints(ii).YData = obj.pos(2); + obj.scatterPoints(ii).ZData = obj.pos(3); + end + + % Find change in agent position since last timestep + deltaPos = obj.pos - obj.lastPos; + + % Collision geometry edges + for jj = 1:size(obj.collisionGeometry.lines, 2) + % Update plotting + for ii = 1:size(obj.collisionGeometry.lines(:, jj), 1) + obj.collisionGeometry.lines(ii, jj).XData = obj.collisionGeometry.lines(ii, jj).XData + deltaPos(1); + obj.collisionGeometry.lines(ii, jj).YData = obj.collisionGeometry.lines(ii, jj).YData + deltaPos(2); + obj.collisionGeometry.lines(ii, jj).ZData = obj.collisionGeometry.lines(ii, jj).ZData + deltaPos(3); + end + end + + % Update FOV geometry surfaces + for jj = 1:size(obj.fovGeometry.surface, 2) + % Update each plot + 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); + end +end \ No newline at end of file diff --git a/@miSim/initialize.m b/@miSim/initialize.m new file mode 100644 index 0000000..1669885 --- /dev/null +++ b/@miSim/initialize.m @@ -0,0 +1,42 @@ +function [obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'miSim')}; + domain (1, 1) {mustBeGeometry}; + objective (1, 1) {mustBeA(objective, 'sensingObjective')}; + agents (:, 1) cell; + timestep (:, 1) double = 0.05; + partitoningFreq (:, 1) double = 0.25 + maxIter (:, 1) double = 1000; + obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1); + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'miSim')}; + f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; + end + + % Define simulation time parameters + obj.timestep = timestep; + obj.maxIter = maxIter; + + % Define domain + obj.domain = domain; + obj.partitioningFreq = partitoningFreq; + + % Add geometries representing obstacles within the domain + obj.obstacles = obstacles; + + % Define objective + obj.objective = objective; + + % Define agents + obj.agents = agents; + + % Compute adjacency matrix + obj = obj.updateAdjacency(); + + % Create initial partitioning + obj = obj.partition(); + + % Set up plots showing initialized state + [obj, f] = obj.plot(); +end \ No newline at end of file diff --git a/@miSim/miSim.m b/@miSim/miSim.m new file mode 100644 index 0000000..552e771 --- /dev/null +++ b/@miSim/miSim.m @@ -0,0 +1,44 @@ +classdef miSim + % multiagent interconnection simulation + + % Simulation parameters + properties (SetAccess = private, GetAccess = public) + timestep = NaN; % delta time interval for simulation iterations + partitioningFreq = NaN; % number of simulation timesteps at which the partitioning routine is re-run + maxIter = NaN; % maximum number of simulation iterations + domain = rectangularPrism; + objective = sensingObjective; + obstacles = cell(0, 1); % geometries that define obstacles within the domain + agents = cell(0, 1); % agents that move within the domain + adjacency = NaN; % Adjacency matrix representing communications network graph + partitioning = NaN; + end + + properties (Access = private) + % Plot objects + connectionsPlot; % objects for lines connecting agents in spatial plots + graphPlot; % objects for abstract network graph plot + partitionPlot; % objects for partition plot + + % Indicies for various plot types in the main tiled layout figure + spatialPlotIndices = [6, 4, 3, 2]; + objectivePlotIndices = [6, 4]; + networkGraphIndex = 5; + partitionGraphIndex = 1; + 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); + end + methods (Access = private) + [v] = setupVideoWriter(obj); + end +end \ No newline at end of file diff --git a/@miSim/partition.m b/@miSim/partition.m new file mode 100644 index 0000000..9383ea9 --- /dev/null +++ b/@miSim/partition.m @@ -0,0 +1,25 @@ +function obj = partition(obj) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'miSim')}; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'miSim')}; + end + + % Assess sensing performance of each agent at each sample point + % in the domain + agentPerformances = cellfun(@(x) reshape(x.sensorModel.sensorPerformance(x.pos, x.pan, x.tilt, [obj.objective.X(:), obj.objective.Y(:), zeros(size(obj.objective.X(:)))]), size(obj.objective.X)), obj.agents, 'UniformOutput', false); + agentPerformances = cat(3, agentPerformances{:}); + + % Get highest performance value at each point + [~, idx] = max(agentPerformances, [], 3); + + % Collect agent indices in the same way + agentInds = cellfun(@(x) x.index * ones(size(obj.objective.X)), obj.agents, 'UniformOutput', false); + agentInds = cat(3, agentInds{:}); + + % Get highest performing agent's index + [m,n,~] = size(agentInds); + [i,j] = ndgrid(1:m, 1:n); + obj.partitioning = agentInds(sub2ind(size(agentInds), i, j, idx)); +end \ No newline at end of file diff --git a/@miSim/plot.m b/@miSim/plot.m new file mode 100644 index 0000000..243b67f --- /dev/null +++ b/@miSim/plot.m @@ -0,0 +1,41 @@ +function [obj, f] = 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); + + % Plot obstacles + for ii = 1:size(obj.obstacles, 1) + [obj.obstacles{ii}, f] = obj.obstacles{ii}.plotWireframe(obj.spatialPlotIndices, f); + end + + % Plot objective gradient + f = obj.objective.plot(obj.objectivePlotIndices, 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); + end + + % Plot communication links + [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f); + + % Plot abstract network graph + [obj, f] = obj.plotGraph(obj.networkGraphIndex, f); + + % Plot domain partitioning + [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f); + + % 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)]); + end +end \ No newline at end of file diff --git a/@miSim/plotConnections.m b/@miSim/plotConnections.m new file mode 100644 index 0000000..7321a22 --- /dev/null +++ b/@miSim/plotConnections.m @@ -0,0 +1,45 @@ +function [obj, f] = plotConnections(obj, ind, f) + 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 + % adjacency matrix to plot communications links between agents + X = []; Y = []; Z = []; + for ii = 2:size(obj.adjacency, 1) + for jj = 1:(ii - 1) + if obj.adjacency(ii, jj) + X = [X; obj.agents{ii}.pos(1), obj.agents{jj}.pos(1)]; + Y = [Y; obj.agents{ii}.pos(2), obj.agents{jj}.pos(2)]; + Z = [Z; obj.agents{ii}.pos(3), obj.agents{jj}.pos(3)]; + end + end + end + 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"); + 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"); + 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)))]; + end + end + + obj.connectionsPlot = o; +end \ No newline at end of file diff --git a/@miSim/plotGraph.m b/@miSim/plotGraph.m new file mode 100644 index 0000000..6170e91 --- /dev/null +++ b/@miSim/plotGraph.m @@ -0,0 +1,31 @@ +function [obj, f] = plotGraph(obj, ind, f) + 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'); + 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 + for ii = 2:size(ind, 2) + o = [o; copyobj(o(1), f.Children(1).Children(ind(ii)))]; + end + end + end + obj.graphPlot = o; +end \ No newline at end of file diff --git a/@miSim/plotPartitions.m b/@miSim/plotPartitions.m new file mode 100644 index 0000000..d5063b6 --- /dev/null +++ b/@miSim/plotPartitions.m @@ -0,0 +1,27 @@ +function [obj, f] = plotPartitions(obj, ind, f) + 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'); + 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 + for ii = 2:size(ind, 2) + o = [o, copyobj(o(1), f.Children(1).Children(ind(ii)))]; + end + end + end + obj.partitionPlot = o; +end \ No newline at end of file diff --git a/@miSim/run.m b/@miSim/run.m new file mode 100644 index 0000000..9b54400 --- /dev/null +++ b/@miSim/run.m @@ -0,0 +1,52 @@ +function [obj, f] = run(obj, f) + 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)); + + % Start video writer + v = obj.setupVideoWriter(); + v.open(); + + for ii = 1:size(times, 1) + % Display current sim time + t = times(ii); + fprintf("Sim Time: %4.2f (%d/%d)\n", t, ii, obj.maxIter) + + % Check if it's time for new partitions + updatePartitions = false; + if ismember(t, partitioningTimes) + updatePartitions = true; + obj = obj.partition(); + end + + % Iterate over agents to simulate their motion + for jj = 1:size(obj.agents, 1) + obj.agents{jj} = obj.agents{jj}.run(obj.objective, obj.domain, obj.partitioning); + end + + % Update adjacency matrix + obj = obj.updateAdjacency; + + % Update plots + [obj, f] = obj.updatePlots(f, updatePartitions); + + % Write frame in to video + I = getframe(f); + v.writeVideo(I); + end + + % Close video file + v.close(); +end \ No newline at end of file diff --git a/setupVideoWriter.m b/@miSim/setupVideoWriter.m similarity index 79% rename from setupVideoWriter.m rename to @miSim/setupVideoWriter.m index 0a464b7..f412a81 100644 --- a/setupVideoWriter.m +++ b/@miSim/setupVideoWriter.m @@ -1,6 +1,6 @@ -function v = setupVideoWriter(timestep) +function v = setupVideoWriter(obj) arguments (Input) - timestep (1, 1) double; + obj (1, 1) {mustBeA(obj, 'miSim')}; end arguments (Output) v (1, 1) {mustBeA(v, 'VideoWriter')}; @@ -12,6 +12,6 @@ function v = setupVideoWriter(timestep) v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI'); end - v.FrameRate = 1/timestep; + v.FrameRate = 1 / obj.timestep; v.Quality = 90; end \ No newline at end of file diff --git a/@miSim/updateAdjacency.m b/@miSim/updateAdjacency.m new file mode 100644 index 0000000..09be91b --- /dev/null +++ b/@miSim/updateAdjacency.m @@ -0,0 +1,32 @@ +function obj = updateAdjacency(obj) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'miSim')}; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'miSim')}; + end + + % Initialize assuming only self-connections + A = logical(eye(size(obj.agents, 1))); + + % Check lower triangle off-diagonal connections + for ii = 2:size(A, 1) + for jj = 1:(ii - 1) + if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) <= min([obj.agents{ii}.comRange, obj.agents{jj}.comRange]) + % Make sure that obstacles don't obstruct the line + % of sight, breaking the connection + for kk = 1:size(obj.obstacles, 1) + if ~obj.obstacles{kk}.containsLine(obj.agents{ii}.pos, obj.agents{jj}.pos) + A(ii, jj) = true; + end + end + % need extra handling for cases with no obstacles + if isempty(obj.obstacles) + A(ii, jj) = true; + end + end + end + end + + obj.adjacency = A | A'; +end \ No newline at end of file diff --git a/@miSim/updatePlots.m b/@miSim/updatePlots.m new file mode 100644 index 0000000..3ce6419 --- /dev/null +++ b/@miSim/updatePlots.m @@ -0,0 +1,43 @@ +function [obj, f] = updatePlots(obj, f, 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 + for ii = 1:size(obj.agents, 1) + obj.agents{ii}.updatePlots(); + end + + % The remaining updates might be possible to do in a clever way + % that moves existing lines instead of clearing and + % re-plotting, which is much better for performance boost + + % Update agent connections plot + delete(obj.connectionsPlot); + [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f); + + % Update network graph plot + delete(obj.graphPlot); + [obj, f] = obj.plotGraph(obj.networkGraphIndex, f); + + % Update partitioning plot + if updatePartitions + delete(obj.partitionPlot); + [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f); + 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)]); + end + + drawnow; +end \ No newline at end of file diff --git a/@sensingObjective/initialize.m b/@sensingObjective/initialize.m new file mode 100644 index 0000000..1d51fb0 --- /dev/null +++ b/@sensingObjective/initialize.m @@ -0,0 +1,34 @@ +function obj = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep) + arguments (Input) + obj (1,1) {mustBeA(obj, 'sensingObjective')}; + objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')}; + footprint (:, 2) double; + groundAlt (1, 1) double = 0; + discretizationStep (1, 1) double = 1; + end + arguments (Output) + obj (1,1) {mustBeA(obj, 'sensingObjective')}; + end + + obj.groundAlt = groundAlt; + + % Extract footprint limits + xMin = min(footprint(:, 1)); + xMax = max(footprint(:, 1)); + yMin = min(footprint(:, 2)); + yMax = max(footprint(:, 2)); + + xGrid = unique([xMin:discretizationStep:xMax, xMax]); + yGrid = unique([yMin:discretizationStep:yMax, yMax]); + + % Store grid points for plotting later + [obj.X, obj.Y] = meshgrid(xGrid, yGrid); + + % Evaluate function over grid points + obj.objectiveFunction = objectiveFunction; + obj.values = reshape(obj.objectiveFunction(obj.X, obj.Y), size(obj.X)); + + % store ground position + idx = obj.values == max(obj.values, [], "all"); + obj.groundPos = [obj.X(idx), obj.Y(idx)]; +end \ No newline at end of file diff --git a/@sensingObjective/plot.m b/@sensingObjective/plot.m new file mode 100644 index 0000000..b9adbc0 --- /dev/null +++ b/@sensingObjective/plot.m @@ -0,0 +1,36 @@ +function f = plot(obj, ind, f) + arguments (Input) + obj (1,1) {mustBeA(obj, 'sensingObjective')}; + ind (1, :) double = NaN; + f (1,1) {mustBeA(f, 'matlab.ui.Figure')} = figure; + end + arguments (Output) + f (1,1) {mustBeA(f, 'matlab.ui.Figure')}; + end + + % Create axes if they don't already exist + f = firstPlotSetup(f); + + % Plot gradient on the "floor" of the domain + if isnan(ind) + hold(f.CurrentAxes, "on"); + o = surf(f.CurrentAxes, obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none'); + o.HitTest = 'off'; + o.PickableParts = 'none'; + hold(f.CurrentAxes, "off"); + + else + hold(f.Children(1).Children(ind(1)), "on"); + o = surf(f.Children(1).Children(ind(1)), obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none'); + o.HitTest = 'off'; + o.PickableParts = 'none'; + hold(f.Children(1).Children(ind(1)), "off"); + end + + % Add to other perspectives + if size(ind, 2) > 1 + for ii = 2:size(ind, 2) + copyobj(o, f.Children(1).Children(ind(ii))); + end + end +end \ No newline at end of file diff --git a/@sensingObjective/sensingObjective.m b/@sensingObjective/sensingObjective.m new file mode 100644 index 0000000..fbe865a --- /dev/null +++ b/@sensingObjective/sensingObjective.m @@ -0,0 +1,18 @@ +classdef sensingObjective + % Sensing objective definition parent class + properties (SetAccess = private, GetAccess = public) + label = ""; + groundAlt = 0; + groundPos = [0, 0]; + discretizationStep = 1; + objectiveFunction = @(x, y) 0; % define objective functions over a grid in this manner + X = []; + Y = []; + values = []; + end + + methods (Access = public) + [obj] = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep); + [f ] = plot(obj, ind, f); + end +end \ No newline at end of file diff --git a/agent.m b/agent.m deleted file mode 100644 index 4ededba..0000000 --- a/agent.m +++ /dev/null @@ -1,167 +0,0 @@ -classdef agent - properties (SetAccess = private, GetAccess = public) - % Identifiers - index = NaN; - label = ""; - - % Sensor - sensorModel; - sensingLength = 0.05; % length parameter used by sensing function - - % Guidance - guidanceModel; - - % State - lastPos = NaN(1, 3); % position from previous timestep - pos = NaN(1, 3); % current position - vel = NaN(1, 3); % current velocity - pan = NaN; % pan angle - tilt = NaN; % tilt angle - - % Collision - collisionGeometry; - - % FOV cone - fovGeometry; - - % Communication - comRange = NaN; - - % Plotting - scatterPoints; - end - - methods (Access = public) - function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'agent')}; - pos (1, 3) double; - vel (1, 3) double; - pan (1, 1) double; - tilt (1, 1) double; - collisionGeometry (1, 1) {mustBeGeometry}; - sensorModel (1, 1) {mustBeSensor} - guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')}; - comRange (1, 1) double = NaN; - index (1, 1) double = NaN; - label (1, 1) string = ""; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'agent')}; - end - - obj.pos = pos; - obj.vel = vel; - obj.pan = pan; - obj.tilt = tilt; - obj.collisionGeometry = collisionGeometry; - obj.sensorModel = sensorModel; - obj.guidanceModel = guidanceModel; - obj.comRange = comRange; - obj.index = index; - obj.label = label; - - % Initialize FOV cone - obj.fovGeometry = cone; - obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], tan(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label)); - end - function obj = run(obj, sensingObjective, domain, partitioning) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'agent')}; - sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')}; - domain (1, 1) {mustBeGeometry}; - partitioning (:, :) double; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'agent')}; - end - - % Do sensing - [sensedValues, sensedPositions] = obj.sensorModel.sense(obj, sensingObjective, domain, partitioning); - - % Determine next planned position - nextPos = obj.guidanceModel(sensedValues, sensedPositions, obj.pos); - - % Move to next position - % (dynamics not modeled at this time) - obj.lastPos = obj.pos; - obj.pos = nextPos; - - % Calculate movement - d = obj.pos - obj.collisionGeometry.center; - - % Reinitialize collision geometry in the new position - obj.collisionGeometry = obj.collisionGeometry.initialize([obj.collisionGeometry.minCorner; obj.collisionGeometry.maxCorner] + d, obj.collisionGeometry.tag, obj.collisionGeometry.label); - end - function updatePlots(obj) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'agent')}; - end - arguments (Output) - end - - % Scatterplot point positions - for ii = 1:size(obj.scatterPoints, 1) - obj.scatterPoints(ii).XData = obj.pos(1); - obj.scatterPoints(ii).YData = obj.pos(2); - obj.scatterPoints(ii).ZData = obj.pos(3); - end - - % Find change in agent position since last timestep - deltaPos = obj.pos - obj.lastPos; - - % Collision geometry edges - for jj = 1:size(obj.collisionGeometry.lines, 2) - % Update plotting - for ii = 1:size(obj.collisionGeometry.lines(:, jj), 1) - obj.collisionGeometry.lines(ii, jj).XData = obj.collisionGeometry.lines(ii, jj).XData + deltaPos(1); - obj.collisionGeometry.lines(ii, jj).YData = obj.collisionGeometry.lines(ii, jj).YData + deltaPos(2); - obj.collisionGeometry.lines(ii, jj).ZData = obj.collisionGeometry.lines(ii, jj).ZData + deltaPos(3); - end - end - - % Update FOV geometry surfaces - for jj = 1:size(obj.fovGeometry.surface, 2) - % Update each plot - 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); - end - end - function [obj, f] = plot(obj, ind, f) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'agent')}; - ind (1, :) double = NaN; - f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'agent')}; - f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; - end - - % Create axes if they don't already exist - f = firstPlotSetup(f); - - % Plot points representing the agent position - hold(f.Children(1).Children(end), "on"); - o = scatter3(f.Children(1).Children(end), obj.pos(1), obj.pos(2), obj.pos(3), 'filled', 'ko', 'SizeData', 25); - hold(f.Children(1).Children(end), "off"); - - % Check if this is a tiled layout figure - if strcmp(f.Children(1).Type, 'tiledlayout') - % Add to other perspectives - o = [o; copyobj(o(1), f.Children(1).Children(2))]; - o = [o; copyobj(o(1), f.Children(1).Children(3))]; - o = [o; copyobj(o(1), f.Children(1).Children(4))]; - end - - obj.scatterPoints = o; - - % Plot collision geometry - [obj.collisionGeometry, f] = obj.collisionGeometry.plotWireframe(ind, f); - - % Plot FOV geometry - [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f); - end - end -end \ No newline at end of file diff --git a/geometries/@cone/cone.m b/geometries/@cone/cone.m new file mode 100644 index 0000000..7ab0d47 --- /dev/null +++ b/geometries/@cone/cone.m @@ -0,0 +1,22 @@ +classdef cone + % Conical geometry + properties (SetAccess = private, GetAccess = public) + % Meta + tag = REGION_TYPE.INVALID; + label = ""; + + % Spatial + center = NaN; + radius = NaN; + height = NaN; + + % Plotting + surface; + n = 32; + end + + methods (Access = public) + [obj ] = initialize(obj, center, radius, height, tag, label); + [obj, f] = plot(obj, ind, f); + end +end \ No newline at end of file diff --git a/geometries/@cone/initialize.m b/geometries/@cone/initialize.m new file mode 100644 index 0000000..b3e25c1 --- /dev/null +++ b/geometries/@cone/initialize.m @@ -0,0 +1,19 @@ +function obj = initialize(obj, center, radius, height, tag, label) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'cone')}; + center (1, 3) double; + radius (1, 1) double; + height (1, 1) double; + tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID; + label (1, 1) string = ""; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'cone')}; + end + + obj.center = center; + obj.radius = radius; + obj.height = height; + obj.tag = tag; + obj.label = label; +end \ No newline at end of file diff --git a/geometries/@cone/plot.m b/geometries/@cone/plot.m new file mode 100644 index 0000000..ad38d26 --- /dev/null +++ b/geometries/@cone/plot.m @@ -0,0 +1,43 @@ +function [obj, f] = plot(obj, ind, f) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'cone')}; + ind (1, :) double = NaN; + f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'cone')}; + f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; + end + + % Create axes if they don't already exist + f = firstPlotSetup(f); + + % Plot cone + [X, Y, Z] = cylinder([obj.radius, 0], obj.n); + + % Scale to match height + Z = Z * obj.height; + + % Move to center location + X = X + obj.center(1); + Y = Y + obj.center(2); + Z = Z + obj.center(3); + + % Plot + if isnan(ind) + o = surf(f.CurrentAxes, X, Y, Z); + else + hold(f.Children(1).Children(ind(1)), "on"); + o = surf(f.Children(1).Children(ind(1)), X, Y, Z, ones([size(Z), 1]) .* reshape(obj.tag.color, 1, 1, 3), 'FaceAlpha', 0.25, 'EdgeColor', 'none'); + hold(f.Children(1).Children(ind(1)), "off"); + end + + % Copy to other requested tiles + if numel(ind) > 1 + for ii = 2:size(ind, 2) + o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))]; + end + end + + obj.surface = o; +end \ No newline at end of file diff --git a/geometries/@rectangularPrism/contains.m b/geometries/@rectangularPrism/contains.m new file mode 100644 index 0000000..363294d --- /dev/null +++ b/geometries/@rectangularPrism/contains.m @@ -0,0 +1,10 @@ +function c = contains(obj, pos) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + pos (:, 3) double; + end + arguments (Output) + c (:, 1) logical + end + c = all(pos >= repmat(obj.minCorner, size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 1), 1), 2); +end \ No newline at end of file diff --git a/geometries/@rectangularPrism/containsLine.m b/geometries/@rectangularPrism/containsLine.m new file mode 100644 index 0000000..2e2194f --- /dev/null +++ b/geometries/@rectangularPrism/containsLine.m @@ -0,0 +1,41 @@ +function c = containsLine(obj, pos1, pos2) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + pos1 (1, 3) double; + pos2 (1, 3) double; + end + arguments (Output) + c (1, 1) logical + end + + d = pos2 - pos1; + + % edge case where the line is parallel to the geometry + if abs(d) < 1e-12 + % check if it happens to start or end inside or outside of + % the geometry + if obj.contains(pos1) || obj.contains(pos2) + c = true; + else + c = false; + end + return; + end + + tmin = -inf; + tmax = inf; + + % Standard case + for ii = 1:3 + t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii); + t2 = (obj.maxCorner(ii) - pos2(ii)) / d(ii); + tmin = max(tmin, min(t1, t2)); + tmax = min(tmax, max(t1, t2)); + if tmin > tmax + c = false; + return; + end + end + + c = (tmax >= 0) && (tmin <= 1); + end \ No newline at end of file diff --git a/geometries/@rectangularPrism/distance.m b/geometries/@rectangularPrism/distance.m new file mode 100644 index 0000000..80caad6 --- /dev/null +++ b/geometries/@rectangularPrism/distance.m @@ -0,0 +1,32 @@ +function d = distance(obj, pos) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + pos (:, 3) double; + end + arguments (Output) + d (:, 1) double + end + if obj.contains(pos) + % Queried point is inside geometry + % find minimum distance to any face + d = min([pos(1) - obj.minCorner(1), ... + pos(2) - obj.minCorner(2), ... + pos(3) - obj.minCorner(3), ... + obj.maxCorner(1) - pos(1), ... + obj.maxCorner(2) - pos(2), ... + obj.maxCorner(3) - pos(3)]); + else + % Queried point is outside geometry + cPos = NaN(1, 3); + for ii = 1:3 + if pos(ii) < obj.minCorner(ii) + cPos(ii) = obj.minCorner(ii); + elseif pos(ii) > obj.maxCorner(ii) + cPos(ii) = obj.maxCorner(ii); + else + cPos(ii) = pos(ii); + end + end + d = norm(cPos - pos); + end +end \ No newline at end of file diff --git a/geometries/@rectangularPrism/initialize.m b/geometries/@rectangularPrism/initialize.m new file mode 100644 index 0000000..a09d510 --- /dev/null +++ b/geometries/@rectangularPrism/initialize.m @@ -0,0 +1,40 @@ +function obj = initialize(obj, bounds, tag, label) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + bounds (2, 3) double; + tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID; + label (1, 1) string = ""; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + end + + obj.tag = tag; + obj.label = label; + + %% Define geometry bounds by LL corner and UR corner + obj.minCorner = bounds(1, 1:3); + obj.maxCorner = bounds(2, 1:3); + + % Compute L, W, H + obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)]; + + % Compute center + obj.center = obj.minCorner + obj.dimensions ./ 2; + + % Compute vertices + obj.vertices = [obj.minCorner; + obj.maxCorner(1), obj.minCorner(2:3); + obj.maxCorner(1:2), obj.minCorner(3); + obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3); + obj.minCorner(1:2), obj.maxCorner(3); + obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3); + obj.minCorner(1), obj.maxCorner(2:3) + obj.maxCorner;]; + + % Compute footprint + obj.footprint = [obj.minCorner(1:2); ... + [obj.minCorner(1), obj.maxCorner(2)]; ... + [obj.maxCorner(1), obj.minCorner(2)]; ... + obj.maxCorner(1:2)]; +end \ No newline at end of file diff --git a/geometries/@rectangularPrism/plotWireframe.m b/geometries/@rectangularPrism/plotWireframe.m new file mode 100644 index 0000000..d54304e --- /dev/null +++ b/geometries/@rectangularPrism/plotWireframe.m @@ -0,0 +1,37 @@ +function [obj, f] = plotWireframe(obj, ind, f) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + ind (1, :) double = NaN; + f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; + end + + % Create axes if they don't already exist + f = firstPlotSetup(f); + + % Create plotting inputs from vertices and edges + X = [obj.vertices(obj.edges(:,1),1), obj.vertices(obj.edges(:,2),1)]'; + Y = [obj.vertices(obj.edges(:,1),2), obj.vertices(obj.edges(:,2),2)]'; + Z = [obj.vertices(obj.edges(:,1),3), obj.vertices(obj.edges(:,2),3)]'; + + % Plot the boundaries of the geometry into 3D view + if isnan(ind) + o = plot3(f.CurrentAxes, X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2); + else + hold(f.Children(1).Children(ind(1)), "on"); + o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2); + hold(f.Children(1).Children(ind(1)), "off"); + end + + % Copy to other requested tiles + if numel(ind) > 1 + for ii = 2:size(ind, 2) + o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))]; + end + end + + obj.lines = o; +end \ No newline at end of file diff --git a/geometries/@rectangularPrism/random.m b/geometries/@rectangularPrism/random.m new file mode 100644 index 0000000..a41ebd3 --- /dev/null +++ b/geometries/@rectangularPrism/random.m @@ -0,0 +1,9 @@ +function r = random(obj) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; + end + arguments (Output) + r (1, 3) double + end + r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))'; +end \ No newline at end of file diff --git a/geometries/@rectangularPrism/rectangularPrism.m b/geometries/@rectangularPrism/rectangularPrism.m new file mode 100644 index 0000000..f0928e1 --- /dev/null +++ b/geometries/@rectangularPrism/rectangularPrism.m @@ -0,0 +1,33 @@ +classdef rectangularPrism + % Rectangular prism geometry + properties (SetAccess = private, GetAccess = public) + % Meta + tag = REGION_TYPE.INVALID; + label = ""; + + % Spatial + minCorner = NaN(1, 3); + maxCorner = NaN(1, 3); + dimensions = NaN(1, 3); + center = NaN; + footprint = NaN(4, 2); + + % Graph + vertices = NaN(8, 3); + edges = [1 2; 2 3; 3 4; 4 1; % bottom square + 5 6; 6 8; 8 7; 7 5; % top square + 1 5; 2 6; 3 8; 4 7]; % vertical edges + + % Plotting + lines; + end + + methods (Access = public) + [obj ] = initialize(obj, bounds, tag, label); + [r ] = random(obj); + [c ] = contains(obj, pos); + [d ] = distance(obj, pos); + [c ] = containsLine(obj, pos1, pos2); + [obj, f] = plotWireframe(obj, ind, f); + end +end \ No newline at end of file diff --git a/geometries/cone.m b/geometries/cone.m deleted file mode 100644 index 52bba95..0000000 --- a/geometries/cone.m +++ /dev/null @@ -1,82 +0,0 @@ -classdef cone - % Conical geometry - properties (SetAccess = private, GetAccess = public) - % Meta - tag = REGION_TYPE.INVALID; - label = ""; - - % Spatial - center = NaN; - radius = NaN; - height = NaN; - - % Plotting - surface; - n = 32; - end - - methods - function obj = initialize(obj, center, radius, height, tag, label) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'cone')}; - center (1, 3) double; - radius (1, 1) double; - height (1, 1) double; - tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID; - label (1, 1) string = ""; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'cone')}; - end - - obj.center = center; - obj.radius = radius; - obj.height = height; - obj.tag = tag; - obj.label = label; - end - function [obj, f] = plot(obj, ind, f) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'cone')}; - ind (1, :) double = NaN; - f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'cone')}; - f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; - end - - % Create axes if they don't already exist - f = firstPlotSetup(f); - - % Plot cone - [X, Y, Z] = cylinder([obj.radius, 0], obj.n); - - % Scale to match height - Z = Z * obj.height; - - % Move to center location - X = X + obj.center(1); - Y = Y + obj.center(2); - Z = Z + obj.center(3); - - % Plot - if isnan(ind) - o = surf(f.CurrentAxes, X, Y, Z); - else - hold(f.Children(1).Children(ind(1)), "on"); - o = surf(f.Children(1).Children(ind(1)), X, Y, Z, ones([size(Z), 1]) .* reshape(obj.tag.color, 1, 1, 3), 'FaceAlpha', 0.25, 'EdgeColor', 'none'); - hold(f.Children(1).Children(ind(1)), "off"); - end - - % Copy to other requested tiles - if numel(ind) > 1 - for ii = 2:size(ind, 2) - o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))]; - end - end - - obj.surface = o; - end - end -end \ No newline at end of file diff --git a/geometries/rectangularPrism.m b/geometries/rectangularPrism.m deleted file mode 100644 index 414bd3e..0000000 --- a/geometries/rectangularPrism.m +++ /dev/null @@ -1,204 +0,0 @@ -classdef rectangularPrism - % Rectangular prism geometry - properties (SetAccess = private, GetAccess = public) - % Meta - tag = REGION_TYPE.INVALID; - label = ""; - - % Spatial - minCorner = NaN(1, 3); - maxCorner = NaN(1, 3); - dimensions = NaN(1, 3); - center = NaN; - footprint = NaN(4, 2); - - % Graph - vertices = NaN(8, 3); - edges = [1 2; 2 3; 3 4; 4 1; % bottom square - 5 6; 6 8; 8 7; 7 5; % top square - 1 5; 2 6; 3 8; 4 7]; % vertical edges - - % Plotting - lines; - end - - methods (Access = public) - function obj = initialize(obj, bounds, tag, label) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - bounds (2, 3) double; - tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID; - label (1, 1) string = ""; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - end - - obj.tag = tag; - obj.label = label; - - %% Define geometry bounds by LL corner and UR corner - obj.minCorner = bounds(1, 1:3); - obj.maxCorner = bounds(2, 1:3); - - % Compute L, W, H - obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)]; - - % Compute center - obj.center = obj.minCorner + obj.dimensions ./ 2; - - % Compute vertices - obj.vertices = [obj.minCorner; - obj.maxCorner(1), obj.minCorner(2:3); - obj.maxCorner(1:2), obj.minCorner(3); - obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3); - obj.minCorner(1:2), obj.maxCorner(3); - obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3); - obj.minCorner(1), obj.maxCorner(2:3) - obj.maxCorner;]; - - % Compute footprint - obj.footprint = [obj.minCorner(1:2); ... - [obj.minCorner(1), obj.maxCorner(2)]; ... - [obj.maxCorner(1), obj.minCorner(2)]; ... - obj.maxCorner(1:2)]; - end - function r = random(obj) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - end - arguments (Output) - r (1, 3) double - end - r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))'; - end - function d = distance(obj, pos) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - pos (:, 3) double; - end - arguments (Output) - d (:, 1) double - end - assert(~obj.contains(pos), "Cannot determine distance for a point inside of the geometry"); - - cPos = NaN(1, 3); - for ii = 1:3 - if pos(ii) < obj.minCorner(ii) - cPos(ii) = obj.minCorner(ii); - elseif pos(ii) > obj.maxCorner(ii) - cPos(ii) = obj.maxCorner(ii); - else - cPos(ii) = pos(ii); - end - end - d = norm(cPos - pos); - end - function d = interiorDistance(obj, pos) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - pos (:, 3) double; - end - arguments (Output) - d (:, 1) double - end - assert(obj.contains(pos), "Cannot determine interior distance for a point outside of the geometry"); - - % find minimum distance to any face - d = min([pos(1) - obj.minCorner(1), ... - pos(2) - obj.minCorner(2), ... - pos(3) - obj.minCorner(3), ... - obj.maxCorner(1) - pos(1), ... - obj.maxCorner(2) - pos(2), ... - obj.maxCorner(3) - pos(3)]); - end - function c = contains(obj, pos) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - pos (:, 3) double; - end - arguments (Output) - c (:, 1) logical - end - c = all(pos >= repmat(obj.minCorner, size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner, size(pos, 1), 1), 2); - end - function c = containsLine(obj, pos1, pos2) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - pos1 (1, 3) double; - pos2 (1, 3) double; - end - arguments (Output) - c (1, 1) logical - end - - d = pos2 - pos1; - - % edge case where the line is parallel to the geometry - if abs(d) < 1e-12 - % check if it happens to start or end inside or outside of - % the geometry - if obj.contains(pos1) || obj.contains(pos2) - c = true; - else - c = false; - end - return; - end - - tmin = -inf; - tmax = inf; - - % Standard case - for ii = 1:3 - t1 = (obj.minCorner(ii) - pos1(ii)) / d(ii); - t2 = (obj.maxCorner(ii) - pos2(ii)) / d(ii); - tmin = max(tmin, min(t1, t2)); - tmax = min(tmax, max(t1, t2)); - if tmin > tmax - c = false; - return; - end - end - - c = (tmax >= 0) && (tmin <= 1); - end - function [obj, f] = plotWireframe(obj, ind, f) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - ind (1, :) double = NaN; - f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'rectangularPrism')}; - f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; - end - - % Create axes if they don't already exist - f = firstPlotSetup(f); - - % Create plotting inputs from vertices and edges - X = [obj.vertices(obj.edges(:,1),1), obj.vertices(obj.edges(:,2),1)]'; - Y = [obj.vertices(obj.edges(:,1),2), obj.vertices(obj.edges(:,2),2)]'; - Z = [obj.vertices(obj.edges(:,1),3), obj.vertices(obj.edges(:,2),3)]'; - - % Plot the boundaries of the geometry into 3D view - if isnan(ind) - o = plot3(f.CurrentAxes, X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2); - else - hold(f.Children(1).Children(ind(1)), "on"); - o = plot3(f.Children(1).Children(ind(1)), X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2); - hold(f.Children(1).Children(ind(1)), "off"); - end - - % Copy to other requested tiles - if numel(ind) > 1 - for ii = 2:size(ind, 2) - o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))]; - end - end - - obj.lines = o; - end - end -end \ No newline at end of file diff --git a/miSim.m b/miSim.m deleted file mode 100644 index d7206be..0000000 --- a/miSim.m +++ /dev/null @@ -1,386 +0,0 @@ -classdef miSim - % multiagent interconnection simulation - - % Simulation parameters - properties (SetAccess = private, GetAccess = public) - timestep = NaN; % delta time interval for simulation iterations - partitioningFreq = NaN; % number of simulation timesteps at which the partitioning routine is re-run - maxIter = NaN; % maximum number of simulation iterations - domain = rectangularPrism; - objective = sensingObjective; - obstacles = cell(0, 1); % geometries that define obstacles within the domain - agents = cell(0, 1); % agents that move within the domain - adjacency = NaN; % Adjacency matrix representing communications network graph - partitioning = NaN; - end - - properties (Access = private) - % Plot objects - connectionsPlot; % objects for lines connecting agents in spatial plots - graphPlot; % objects for abstract network graph plot - partitionPlot; % objects for partition plot - - % Indicies for various plot types in the main tiled layout figure - spatialPlotIndices = [6, 4, 3, 2]; - objectivePlotIndices = [6, 4]; - networkGraphIndex = 5; - partitionGraphIndex = 1; - end - - methods (Access = public) - function [obj, f] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'miSim')}; - domain (1, 1) {mustBeGeometry}; - objective (1, 1) {mustBeA(objective, 'sensingObjective')}; - agents (:, 1) cell; - timestep (:, 1) double = 0.05; - partitoningFreq (:, 1) double = 0.25 - maxIter (:, 1) double = 1000; - obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1); - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'miSim')}; - f (1, 1) {mustBeA(f, 'matlab.ui.Figure')}; - end - - % Define simulation time parameters - obj.timestep = timestep; - obj.maxIter = maxIter; - - % Define domain - obj.domain = domain; - obj.partitioningFreq = partitoningFreq; - - % Add geometries representing obstacles within the domain - obj.obstacles = obstacles; - - % Define objective - obj.objective = objective; - - % Define agents - obj.agents = agents; - - % Compute adjacency matrix - obj = obj.updateAdjacency(); - - % Create initial partitioning - obj = obj.partition(); - - % Set up initial plot - % Set up axes arrangement - % Plot domain - [obj.domain, 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); - end - - % Plot objective gradient - f = obj.objective.plot(obj.objectivePlotIndices, 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); - end - - % Plot communication links - [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f); - - % Plot abstract network graph - [obj, f] = obj.plotGraph(obj.networkGraphIndex, f); - - % Plot domain partitioning - [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f); - - % 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)]); - end - end - function [obj, f] = run(obj, f) - 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)); - - % Start video writer - v = setupVideoWriter(obj.timestep); - v.open(); - - for ii = 1:size(times, 1) - % Display current sim time - t = times(ii); - fprintf("Sim Time: %4.2f (%d/%d)\n", t, ii, obj.maxIter) - - % Check if it's time for new partitions - updatePartitions = false; - if ismember(t, partitioningTimes) - updatePartitions = true; - obj = obj.partition(); - end - - % Iterate over agents to simulate their motion - for jj = 1:size(obj.agents, 1) - obj.agents{jj} = obj.agents{jj}.run(obj.objective, obj.domain, obj.partitioning); - end - - % Update adjacency matrix - obj = obj.updateAdjacency; - - % Update plots - [obj, f] = obj.updatePlots(f, updatePartitions); - - % Write frame in to video - I = getframe(f); - v.writeVideo(I); - end - - % Close video file - v.close(); - end - function obj = partition(obj) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'miSim')}; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'miSim')}; - end - - % Assess sensing performance of each agent at each sample point - % in the domain - agentPerformances = cellfun(@(x) reshape(x.sensorModel.sensorPerformance(x.pos, x.pan, x.tilt, [obj.objective.X(:), obj.objective.Y(:), zeros(size(obj.objective.X(:)))]), size(obj.objective.X)), obj.agents, 'UniformOutput', false); - agentPerformances = cat(3, agentPerformances{:}); - - % Get highest performance value at each point - [~, idx] = max(agentPerformances, [], 3); - - % Collect agent indices in the same way - agentInds = cellfun(@(x) x.index * ones(size(obj.objective.X)), obj.agents, 'UniformOutput', false); - agentInds = cat(3, agentInds{:}); - - % Get highest performing agent's index - [m,n,~] = size(agentInds); - [i,j] = ndgrid(1:m, 1:n); - obj.partitioning = agentInds(sub2ind(size(agentInds), i, j, idx)); - end - function [obj, f] = updatePlots(obj, f, 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 - for ii = 1:size(obj.agents, 1) - obj.agents{ii}.updatePlots(); - end - - % The remaining updates might be possible to do in a clever way - % that moves existing lines instead of clearing and - % re-plotting, which is much better for performance boost - - % Update agent connections plot - delete(obj.connectionsPlot); - [obj, f] = obj.plotConnections(obj.spatialPlotIndices, f); - - % Update network graph plot - delete(obj.graphPlot); - [obj, f] = obj.plotGraph(obj.networkGraphIndex, f); - - % Update partitioning plot - if updatePartitions - delete(obj.partitionPlot); - [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f); - 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)]); - end - - drawnow; - end - function obj = updateAdjacency(obj) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'miSim')}; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'miSim')}; - end - - % Initialize assuming only self-connections - A = logical(eye(size(obj.agents, 1))); - - % Check lower triangle off-diagonal connections - for ii = 2:size(A, 1) - for jj = 1:(ii - 1) - if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) <= min([obj.agents{ii}.comRange, obj.agents{jj}.comRange]) - % Make sure that obstacles don't obstruct the line - % of sight, breaking the connection - for kk = 1:size(obj.obstacles, 1) - if ~obj.obstacles{kk}.containsLine(obj.agents{ii}.pos, obj.agents{jj}.pos) - A(ii, jj) = true; - end - end - % need extra handling for cases with no obstacles - if isempty(obj.obstacles) - A(ii, jj) = true; - end - end - end - end - - obj.adjacency = A | A'; - end - function [obj, f] = plotConnections(obj, ind, f) - 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 - % adjacency matrix to plot communications links between agents - X = []; Y = []; Z = []; - for ii = 2:size(obj.adjacency, 1) - for jj = 1:(ii - 1) - if obj.adjacency(ii, jj) - X = [X; obj.agents{ii}.pos(1), obj.agents{jj}.pos(1)]; - Y = [Y; obj.agents{ii}.pos(2), obj.agents{jj}.pos(2)]; - Z = [Z; obj.agents{ii}.pos(3), obj.agents{jj}.pos(3)]; - end - end - end - 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"); - 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"); - 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)))]; - end - end - - obj.connectionsPlot = o; - end - function [obj, f] = plotPartitions(obj, ind, f) - 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'); - 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 - for ii = 2:size(ind, 2) - o = [o, copyobj(o(1), f.Children(1).Children(ind(ii)))]; - end - end - end - obj.partitionPlot = o; - - end - function [obj, f] = plotGraph(obj, ind, f) - 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'); - 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 - for ii = 2:size(ind, 2) - o = [o; copyobj(o(1), f.Children(1).Children(ind(ii)))]; - end - end - end - obj.graphPlot = o; - end - end - - methods (Access = private) - function validateInitialization(obj) - % Assert obstacles do not intersect with the domain - - % Assert obstacles do not intersect with each other - - % Assert the objective has only one maxima within the domain - - % Assert the objective's sole maximum is 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similarity index 100% rename from resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/G4ZDRUCYKeWyePBmClgd0b2gv90p.xml rename to resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/J92EAi8o6avZ-YwqXJcBXXpuHf8p.xml diff --git a/resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/KnSqc2QQVtqpmkuTxZwS8ypWZesd.xml b/resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/KnSqc2QQVtqpmkuTxZwS8ypWZesd.xml new file mode 100644 index 0000000..99772b4 --- /dev/null +++ b/resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/KnSqc2QQVtqpmkuTxZwS8ypWZesd.xml @@ -0,0 +1,6 @@ + + + + + \ No newline at end of file diff --git a/resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/KnSqc2QQVtqpmkuTxZwS8ypWZesp.xml b/resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/KnSqc2QQVtqpmkuTxZwS8ypWZesp.xml new file mode 100644 index 0000000..fa915a2 --- /dev/null +++ b/resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/KnSqc2QQVtqpmkuTxZwS8ypWZesp.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git 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b/resources/project/tBBDcBPWdBTCTMSBG9IGJ_TsICk/oGsKvxjkC8sD8EXwFRxU-rf-Jb8p.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/resources/project/tBBDcBPWdBTCTMSBG9IGJ_TsICk/y0au_RWAZtoIPZaEsuAYoZxR4j4d.xml b/resources/project/tBBDcBPWdBTCTMSBG9IGJ_TsICk/y0au_RWAZtoIPZaEsuAYoZxR4j4d.xml new file mode 100644 index 0000000..4356a6a --- /dev/null +++ b/resources/project/tBBDcBPWdBTCTMSBG9IGJ_TsICk/y0au_RWAZtoIPZaEsuAYoZxR4j4d.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/resources/project/tBBDcBPWdBTCTMSBG9IGJ_TsICk/y0au_RWAZtoIPZaEsuAYoZxR4j4p.xml b/resources/project/tBBDcBPWdBTCTMSBG9IGJ_TsICk/y0au_RWAZtoIPZaEsuAYoZxR4j4p.xml new file mode 100644 index 0000000..01cb34e --- /dev/null +++ b/resources/project/tBBDcBPWdBTCTMSBG9IGJ_TsICk/y0au_RWAZtoIPZaEsuAYoZxR4j4p.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/9I1NhbvmbTiuVshItfSCHZiDxxId.xml b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/9I1NhbvmbTiuVshItfSCHZiDxxId.xml new file mode 100644 index 0000000..4356a6a --- /dev/null +++ b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/9I1NhbvmbTiuVshItfSCHZiDxxId.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/9I1NhbvmbTiuVshItfSCHZiDxxIp.xml b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/9I1NhbvmbTiuVshItfSCHZiDxxIp.xml new file mode 100644 index 0000000..2f0264c --- /dev/null +++ b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/9I1NhbvmbTiuVshItfSCHZiDxxIp.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/LMc5a8ETDcRip3rYsQxn56S6obMd.xml b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/LMc5a8ETDcRip3rYsQxn56S6obMd.xml new file mode 100644 index 0000000..4356a6a --- /dev/null +++ b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/LMc5a8ETDcRip3rYsQxn56S6obMd.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/LMc5a8ETDcRip3rYsQxn56S6obMp.xml b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/LMc5a8ETDcRip3rYsQxn56S6obMp.xml new file mode 100644 index 0000000..00ec4cc --- /dev/null +++ b/resources/project/uhUDZwLuHiPGihzjzILZj0glbh8/LMc5a8ETDcRip3rYsQxn56S6obMp.xml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/sensingModels/@fixedCardinalSensor/fixedCardinalSensor.m b/sensingModels/@fixedCardinalSensor/fixedCardinalSensor.m new file mode 100644 index 0000000..374d38a --- /dev/null +++ b/sensingModels/@fixedCardinalSensor/fixedCardinalSensor.m @@ -0,0 +1,13 @@ +classdef fixedCardinalSensor + % Senses in the +/-x, +/- y directions at some specified fixed length + properties + alphaTilt = NaN; + r = 0.1; % fixed sensing length + end + + methods (Access = public) + [obj] = initialize(obj, r); + [neighborValues, neighborPos] = sense(obj, agent, sensingObjective, domain, partitioning); + [value] = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos); + end +end \ No newline at end of file diff --git a/sensingModels/@fixedCardinalSensor/initialize.m b/sensingModels/@fixedCardinalSensor/initialize.m new file mode 100644 index 0000000..c65b583 --- /dev/null +++ b/sensingModels/@fixedCardinalSensor/initialize.m @@ -0,0 +1,10 @@ +function obj = initialize(obj, r) + arguments(Input) + obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; + r (1, 1) double; + end + arguments(Output) + obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; + end + obj.r = r; +end \ No newline at end of file diff --git a/sensingModels/@fixedCardinalSensor/sense.m b/sensingModels/@fixedCardinalSensor/sense.m new file mode 100644 index 0000000..5369a22 --- /dev/null +++ b/sensingModels/@fixedCardinalSensor/sense.m @@ -0,0 +1,45 @@ +function [neighborValues, neighborPos] = sense(obj, agent, sensingObjective, domain, partitioning) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; + agent (1, 1) {mustBeA(agent, 'agent')}; + sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')}; + domain (1, 1) {mustBeGeometry}; + partitioning (:, :) double = NaN; + end + arguments (Output) + neighborValues (4, 1) double; + neighborPos (4, 3) double; + end + + % Set alphaTilt to produce an FOV cone with radius 'r' on the ground + obj.alphaTilt = atan2(obj.r, agent.pos(3)); + + % Evaluate objective at position offsets +/-[r, 0, 0] and +/-[0, r, 0] + currentPos = agent.pos(1:2); + neighborPos = [currentPos(1) + obj.r, currentPos(2); ... % (+x) + currentPos(1), currentPos(2) + obj.r; ... % (+y) + currentPos(1) - obj.r, currentPos(2); ... % (-x) + currentPos(1), currentPos(2) - obj.r; ... % (-y) + ]; + + % Check for neighbor positions that fall outside of the domain + outOfBounds = false(size(neighborPos, 1), 1); + for ii = 1:size(neighborPos, 1) + if ~domain.contains([neighborPos(ii, :), 0]) + outOfBounds(ii) = true; + end + end + + % Replace out of bounds positions with inoffensive in-bounds positions + neighborPos(outOfBounds, 1:3) = repmat(agent.pos, sum(outOfBounds), 1); + + % Sense values at selected positions + neighborValues = [sensingObjective.objectiveFunction(neighborPos(1, 1), neighborPos(1, 2)), ... % (+x) + sensingObjective.objectiveFunction(neighborPos(2, 1), neighborPos(2, 2)), ... % (+y) + sensingObjective.objectiveFunction(neighborPos(3, 1), neighborPos(3, 2)), ... % (-x) + sensingObjective.objectiveFunction(neighborPos(4, 1), neighborPos(4, 2)), ... % (-y) + ]; + + % Prevent out of bounds locations from ever possibly being selected + neighborValues(outOfBounds) = 0; +end \ No newline at end of file diff --git a/sensingModels/@fixedCardinalSensor/sensorPerformance.m b/sensingModels/@fixedCardinalSensor/sensorPerformance.m new file mode 100644 index 0000000..2c2a294 --- /dev/null +++ b/sensingModels/@fixedCardinalSensor/sensorPerformance.m @@ -0,0 +1,14 @@ +function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; + agentPos (1, 3) double; + agentPan (1, 1) double; + agentTilt (1, 1) double; + targetPos (:, 3) double; + end + arguments (Output) + value (:, 1) double; + end + + value = 0.5 * ones(size(targetPos, 1), 1); +end \ No newline at end of file diff --git a/sensingModels/@sigmoidSensor/initialize.m b/sensingModels/@sigmoidSensor/initialize.m new file mode 100644 index 0000000..7938fa8 --- /dev/null +++ b/sensingModels/@sigmoidSensor/initialize.m @@ -0,0 +1,21 @@ +function obj = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'sigmoidSensor')} + alphaDist (1, 1) double; + betaDist (1, 1) double; + alphaPan (1, 1) double; + betaPan (1, 1) double; + alphaTilt (1, 1) double; + betaTilt (1, 1) double; + end + arguments (Output) + obj (1, 1) {mustBeA(obj, 'sigmoidSensor')} + end + + obj.alphaDist = alphaDist; + obj.betaDist = betaDist; + obj.alphaPan = alphaPan; + obj.betaPan = betaPan; + obj.alphaTilt = alphaTilt; + obj.betaTilt = betaTilt; +end \ No newline at end of file diff --git a/sensingModels/@sigmoidSensor/sense.m b/sensingModels/@sigmoidSensor/sense.m new file mode 100644 index 0000000..c7a2ea3 --- /dev/null +++ b/sensingModels/@sigmoidSensor/sense.m @@ -0,0 +1,21 @@ +function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}; + agent (1, 1) {mustBeA(agent, 'agent')}; + sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')}; + domain (1, 1) {mustBeGeometry}; + partitioning (:, :) double; + end + arguments (Output) + values (:, 1) double; + positions (:, 3) double; + end + + % Find positions for this agent's assigned partition in the domain + idx = partitioning == agent.index; + positions = [sensingObjective.X(idx), sensingObjective.Y(idx), zeros(size(sensingObjective.X(idx)))]; + + % Evaluate objective function at every point in this agent's + % assigned partiton + values = sensingObjective.values(idx); +end \ No newline at end of file diff --git a/sensingModels/@sigmoidSensor/sensorPerformance.m b/sensingModels/@sigmoidSensor/sensorPerformance.m new file mode 100644 index 0000000..f82d344 --- /dev/null +++ b/sensingModels/@sigmoidSensor/sensorPerformance.m @@ -0,0 +1,23 @@ +function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos) + arguments (Input) + obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}; + agentPos (1, 3) double; + agentPan (1, 1) double; + agentTilt (1, 1) double; + targetPos (:, 3) double; + end + arguments (Output) + value (:, 1) double; + end + + d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target + x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2); % distance from sensor nadir to target nadir (i.e. distance ignoring height difference) + tiltAngle = atan2(targetPos(:, 3) - agentPos(3), x) - agentTilt; + + % Membership functions + mu_d = 1 - (1 ./ (1 + exp(-obj.betaDist .* (d - obj.alphaDist)))); % distance + mu_p = 1; % pan + mu_t = (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle - obj.alphaPan)))); % tilt + + value = mu_d .* mu_p .* mu_t * 1e12; +end \ No newline at end of file diff --git a/sensingModels/@sigmoidSensor/sigmoidSensor.m b/sensingModels/@sigmoidSensor/sigmoidSensor.m new file mode 100644 index 0000000..577d12c --- /dev/null +++ b/sensingModels/@sigmoidSensor/sigmoidSensor.m @@ -0,0 +1,17 @@ +classdef sigmoidSensor + properties (SetAccess = private, GetAccess = public) + % Sensor parameters + alphaDist = NaN; + betaDist = NaN; + alphaPan = NaN; + betaPan = NaN; + alphaTilt = NaN; + betaTilt = NaN; + end + + methods (Access = public) + [obj] = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt); + [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning); + [value] = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos); + end +end \ No newline at end of file diff --git a/sensingModels/fixedCardinalSensor.m b/sensingModels/fixedCardinalSensor.m deleted file mode 100644 index 96da85c..0000000 --- a/sensingModels/fixedCardinalSensor.m +++ /dev/null @@ -1,79 +0,0 @@ -classdef fixedCardinalSensor - % Senses in the +/-x, +/- y directions at some specified fixed length - properties - alphaTilt = NaN; - r = 0.1; % fixed sensing length - end - - methods (Access = public) - function obj = initialize(obj, r) - arguments(Input) - obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; - r (1, 1) double; - end - arguments(Output) - obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; - end - obj.r = r; - end - function [neighborValues, neighborPos] = sense(obj, agent, sensingObjective, domain, partitioning) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; - agent (1, 1) {mustBeA(agent, 'agent')}; - sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')}; - domain (1, 1) {mustBeGeometry}; - partitioning (:, :) double = NaN; - end - arguments (Output) - neighborValues (4, 1) double; - neighborPos (4, 3) double; - end - - % Set alphaTilt to produce an FOV cone with radius 'r' on the ground - obj.alphaTilt = atan2(obj.r, agent.pos(3)); - - % Evaluate objective at position offsets +/-[r, 0, 0] and +/-[0, r, 0] - currentPos = agent.pos(1:2); - neighborPos = [currentPos(1) + obj.r, currentPos(2); ... % (+x) - currentPos(1), currentPos(2) + obj.r; ... % (+y) - currentPos(1) - obj.r, currentPos(2); ... % (-x) - currentPos(1), currentPos(2) - obj.r; ... % (-y) - ]; - - % Check for neighbor positions that fall outside of the domain - outOfBounds = false(size(neighborPos, 1), 1); - for ii = 1:size(neighborPos, 1) - if ~domain.contains([neighborPos(ii, :), 0]) - outOfBounds(ii) = true; - end - end - - % Replace out of bounds positions with inoffensive in-bounds positions - neighborPos(outOfBounds, 1:3) = repmat(agent.pos, sum(outOfBounds), 1); - - % Sense values at selected positions - neighborValues = [sensingObjective.objectiveFunction(neighborPos(1, 1), neighborPos(1, 2)), ... % (+x) - sensingObjective.objectiveFunction(neighborPos(2, 1), neighborPos(2, 2)), ... % (+y) - sensingObjective.objectiveFunction(neighborPos(3, 1), neighborPos(3, 2)), ... % (-x) - sensingObjective.objectiveFunction(neighborPos(4, 1), neighborPos(4, 2)), ... % (-y) - ]; - - % Prevent out of bounds locations from ever possibly being selected - neighborValues(outOfBounds) = 0; - end - function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'fixedCardinalSensor')}; - agentPos (1, 3) double; - agentPan (1, 1) double; - agentTilt (1, 1) double; - targetPos (:, 3) double; - end - arguments (Output) - value (:, 1) double; - end - - value = 0.5 * ones(size(targetPos, 1), 1); - end - end -end \ No newline at end of file diff --git a/sensingModels/sigmoidSensor.m b/sensingModels/sigmoidSensor.m deleted file mode 100644 index 8eed9ee..0000000 --- a/sensingModels/sigmoidSensor.m +++ /dev/null @@ -1,79 +0,0 @@ -classdef sigmoidSensor - properties (SetAccess = private, GetAccess = public) - % Sensor parameters - alphaDist = NaN; - betaDist = NaN; - alphaPan = NaN; - betaPan = NaN; - alphaTilt = NaN; - betaTilt = NaN; - end - - methods (Access = public) - function obj = initialize(obj, alphaDist, betaDist, alphaPan, betaPan, alphaTilt, betaTilt) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'sigmoidSensor')} - alphaDist (1, 1) double; - betaDist (1, 1) double; - alphaPan (1, 1) double; - betaPan (1, 1) double; - alphaTilt (1, 1) double; - betaTilt (1, 1) double; - end - arguments (Output) - obj (1, 1) {mustBeA(obj, 'sigmoidSensor')} - end - - obj.alphaDist = alphaDist; - obj.betaDist = betaDist; - obj.alphaPan = alphaPan; - obj.betaPan = betaPan; - obj.alphaTilt = alphaTilt; - obj.betaTilt = betaTilt; - end - function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}; - agent (1, 1) {mustBeA(agent, 'agent')}; - sensingObjective (1, 1) {mustBeA(sensingObjective, 'sensingObjective')}; - domain (1, 1) {mustBeGeometry}; - partitioning (:, :) double; - end - arguments (Output) - values (:, 1) double; - positions (:, 3) double; - end - - % Find positions for this agent's assigned partition in the domain - idx = partitioning == agent.index; - positions = [sensingObjective.X(idx), sensingObjective.Y(idx), zeros(size(sensingObjective.X(idx)))]; - - % Evaluate objective function at every point in this agent's - % assigned partiton - values = sensingObjective.values(idx); - end - function value = sensorPerformance(obj, agentPos, agentPan, agentTilt, targetPos) - arguments (Input) - obj (1, 1) {mustBeA(obj, 'sigmoidSensor')}; - agentPos (1, 3) double; - agentPan (1, 1) double; - agentTilt (1, 1) double; - targetPos (:, 3) double; - end - arguments (Output) - value (:, 1) double; - end - - d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target - x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2); % distance from sensor nadir to target nadir (i.e. distance ignoring height difference) - tiltAngle = atan2(targetPos(:, 3) - agentPos(3), x) - agentTilt; - - % Membership functions - mu_d = 1 - (1 ./ (1 + exp(-obj.betaDist .* (d - obj.alphaDist)))); % distance - mu_p = 1; % pan - mu_t = (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle + obj.alphaPan)))) - (1 ./ (1 + exp(-obj.betaPan .* (tiltAngle - obj.alphaPan)))); % tilt - - value = mu_d .* mu_p .* mu_t * 1e12; - end - end -end \ No newline at end of file diff --git a/sensingObjective.m b/sensingObjective.m deleted file mode 100644 index 5ca08bd..0000000 --- a/sensingObjective.m +++ /dev/null @@ -1,86 +0,0 @@ -classdef sensingObjective - % Sensing objective definition parent class - properties (SetAccess = private, GetAccess = public) - label = ""; - groundAlt = 0; - groundPos = [0, 0]; - discretizationStep = 1; - objectiveFunction = @(x, y) 0; % define objective functions over a grid in this manner - X = []; - Y = []; - values = []; - end - - methods (Access = public) - function obj = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep) - arguments (Input) - obj (1,1) {mustBeA(obj, 'sensingObjective')}; - objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')}; - footprint (:, 2) double; - groundAlt (1, 1) double = 0; - discretizationStep (1, 1) double = 1; - end - arguments (Output) - obj (1,1) {mustBeA(obj, 'sensingObjective')}; - end - - obj.groundAlt = groundAlt; - - % Extract footprint limits - xMin = min(footprint(:, 1)); - xMax = max(footprint(:, 1)); - yMin = min(footprint(:, 2)); - yMax = max(footprint(:, 2)); - - xGrid = unique([xMin:discretizationStep:xMax, xMax]); - yGrid = unique([yMin:discretizationStep:yMax, yMax]); - - % Store grid points for plotting later - [obj.X, obj.Y] = meshgrid(xGrid, yGrid); - - % Evaluate function over grid points - obj.objectiveFunction = objectiveFunction; - obj.values = reshape(obj.objectiveFunction(obj.X, obj.Y), size(obj.X)); - - % store ground position - idx = obj.values == max(obj.values, [], "all"); - obj.groundPos = [obj.X(idx), obj.Y(idx)]; - end - function f = plot(obj, ind, f) - arguments (Input) - obj (1,1) {mustBeA(obj, 'sensingObjective')}; - ind (1, :) double = NaN; - f (1,1) {mustBeA(f, 'matlab.ui.Figure')} = figure; - end - arguments (Output) - f (1,1) {mustBeA(f, 'matlab.ui.Figure')}; - end - - % Create axes if they don't already exist - f = firstPlotSetup(f); - - % Plot gradient on the "floor" of the domain - if isnan(ind) - hold(f.CurrentAxes, "on"); - o = surf(f.CurrentAxes, obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none'); - o.HitTest = 'off'; - o.PickableParts = 'none'; - hold(f.CurrentAxes, "off"); - - else - hold(f.Children(1).Children(ind(1)), "on"); - o = surf(f.Children(1).Children(ind(1)), obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none'); - o.HitTest = 'off'; - o.PickableParts = 'none'; - hold(f.Children(1).Children(ind(1)), "off"); - end - - % Add to other perspectives - if size(ind, 2) > 1 - for ii = 2:size(ind, 2) - copyobj(o, f.Children(1).Children(ind(ii))); - end - end - end - end -end \ No newline at end of file diff --git a/test_miSim.m b/test/test_miSim.m similarity index 99% rename from test_miSim.m rename to test/test_miSim.m index ff451b0..5952af9 100644 --- a/test_miSim.m +++ b/test/test_miSim.m @@ -49,7 +49,7 @@ classdef test_miSim < matlab.unittest.TestCase % Using a bivariate normal distribution % Set peak position (mean) mu = tc.domain.minCorner; - while tc.domain.interiorDistance(mu) < tc.protectedRange + while tc.domain.distance(mu) < tc.protectedRange mu = tc.domain.random(); end mu(3) = 0; @@ -191,8 +191,8 @@ classdef test_miSim < matlab.unittest.TestCase candidateGeometry = candidateGeometry.initialize([candidatePos - tc.collisionRanges(ii) * ones(1, 3); candidatePos + tc.collisionRanges(ii) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", ii)); % Initialize candidate agent sensor model - sensor = fixedCardinalSensor; - sensor = sensor.initialize(tc.sensingLength); + sensor = sigmoidSensor; + sensor = sensor.initialize(2.5, 3, NaN, NaN, deg2rad(15), 3); % Initialize candidate agent newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, ii, sprintf("Agent %d", ii)); diff --git a/firstPlotSetup.m b/util/firstPlotSetup.m similarity index 100% rename from firstPlotSetup.m rename to util/firstPlotSetup.m diff --git a/validators/agentsCrowdObjective.m b/util/validators/agentsCrowdObjective.m similarity index 100% rename from validators/agentsCrowdObjective.m rename to util/validators/agentsCrowdObjective.m diff --git a/validators/arguments/mustBeGeometry.m b/util/validators/arguments/mustBeGeometry.m similarity index 100% rename from validators/arguments/mustBeGeometry.m rename to util/validators/arguments/mustBeGeometry.m diff --git a/validators/arguments/mustBeSensor.m b/util/validators/arguments/mustBeSensor.m similarity index 100% rename from validators/arguments/mustBeSensor.m rename to util/validators/arguments/mustBeSensor.m diff --git a/validators/domainContainsObstacle.m b/util/validators/domainContainsObstacle.m similarity index 100% rename from validators/domainContainsObstacle.m rename to util/validators/domainContainsObstacle.m diff --git a/validators/geometryIntersects.m b/util/validators/geometryIntersects.m similarity index 100% rename from validators/geometryIntersects.m rename to util/validators/geometryIntersects.m diff --git a/validators/obstacleCoversObjective.m b/util/validators/obstacleCoversObjective.m similarity index 100% rename from validators/obstacleCoversObjective.m rename to util/validators/obstacleCoversObjective.m diff --git a/validators/obstacleCrowdsObjective.m b/util/validators/obstacleCrowdsObjective.m similarity index 100% rename from validators/obstacleCrowdsObjective.m rename to util/validators/obstacleCrowdsObjective.m