kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

reorganized code into separate files

Browse Source
This commit is contained in:
Kevin D
2025-11-15 14:36:10 -08:00
parent e7127365bd
commit 8dd24bdba6
203 changed files with 1413 additions and 1101 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
@miSim/initialize.m Normal file
View File

@@ -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

44
@miSim/miSim.m Normal file
View File

@@ -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

25
@miSim/partition.m Normal file
View File

@@ -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

41
@miSim/plot.m Normal file
View File

@@ -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

45
@miSim/plotConnections.m Normal file
View File

@@ -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

31
@miSim/plotGraph.m Normal file
View File

@@ -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

27
@miSim/plotPartitions.m Normal file
View File

@@ -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

52
@miSim/run.m Normal file
View File

@@ -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

17
@miSim/setupVideoWriter.m Normal file
View File

@@ -0,0 +1,17 @@
function v = setupVideoWriter(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
end
arguments (Output)
v (1, 1) {mustBeA(v, 'VideoWriter')};
end
if ispc || ismac
v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'MPEG-4');
elseif isunix
v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI');
end
v.FrameRate = 1 / obj.timestep;
v.Quality = 90;
end

32
@miSim/updateAdjacency.m Normal file
View File

@@ -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

43
@miSim/updatePlots.m Normal file
View File

@@ -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