reorganized code into separate files

@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