reorganized code into separate files

@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

@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

@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

@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

@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