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removed agent label input at initialization

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This commit is contained in:
Kevin Dee
2026-01-01 17:16:11 -08:00
parent 492c5c2140
commit 8dfa0c337a
3 changed files with 34 additions and 23 deletions
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14
@agent/initialize.m
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@@ -1,4 +1,4 @@
function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label, debug, plotCommsGeometry) function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, label, debug, plotCommsGeometry)
arguments (Input) arguments (Input)
obj (1, 1) {mustBeA(obj, 'agent')}; obj (1, 1) {mustBeA(obj, 'agent')};
pos (1, 3) double; pos (1, 3) double;
@@ -6,12 +6,12 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
pan (1, 1) double; pan (1, 1) double;
tilt (1, 1) double; tilt (1, 1) double;
collisionGeometry (1, 1) {mustBeGeometry}; collisionGeometry (1, 1) {mustBeGeometry};
sensorModel (1, 1) {mustBeSensor} sensorModel (1, 1) {mustBeSensor};
guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')}; guidanceModel (1, 1) {mustBeA(guidanceModel, 'function_handle')};
comRange (1, 1) double = NaN; comRange (1, 1) double;
label (1, 1) string = ""; label (1, 1) string = "";
debug (1, 1) logical = false; debug (1, 1) logical = false;
plotCommsGeometry (1, 1) logical = true; plotCommsGeometry (1, 1) logical = false;
end end
arguments (Output) arguments (Output)
obj (1, 1) {mustBeA(obj, 'agent')}; obj (1, 1) {mustBeA(obj, 'agent')};
@@ -28,6 +28,12 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
obj.debug = debug; obj.debug = debug;
obj.plotCommsGeometry = plotCommsGeometry; obj.plotCommsGeometry = plotCommsGeometry;
if isempty(obj.label)
obj.label = sprintf("Agent %d");
end
% Add spherical geometry based on com range % Add spherical geometry based on com range
obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label)); obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("%s Comms Geometry", obj.label));

5
@miSim/initialize.m
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@@ -52,6 +52,11 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
% Define agents % Define agents
obj.agents = agents; obj.agents = agents;
obj.constraintAdjacencyMatrix = logical(eye(size(agents, 1))); obj.constraintAdjacencyMatrix = logical(eye(size(agents, 1)));
for ii = 1:size(obj.agents, 1)
if isempty(char(obj.agents{ii}.label))
obj.agents{ii}.label = sprintf("Agent %d", ii);
end
end
% Compute adjacency matrix and lesser neighbors % Compute adjacency matrix and lesser neighbors
obj = obj.updateAdjacency(); obj = obj.updateAdjacency();

38
test/test_miSim.m
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@@ -162,7 +162,7 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin)); sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent % Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, sprintf("Agent %d", ii)); newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange);
% Make sure candidate agent doesn't collide with % Make sure candidate agent doesn't collide with
% domain % domain
@@ -296,7 +296,7 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin)); sensor = sensor.initialize(tc.alphaDistMin + rand * (tc.alphaDistMax - tc.alphaDistMin), tc.betaDistMin + rand * (tc.betaDistMax - tc.betaDistMin), NaN, NaN, tc.alphaTiltMin + rand * (tc.alphaTiltMax - tc.alphaTiltMin), tc.betaTiltMin + rand * (tc.betaTiltMax - tc.betaTiltMin));
% Initialize candidate agent % Initialize candidate agent
newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange, sprintf("Agent %d", ii), false, false); newAgent = tc.agents{ii}.initialize(candidatePos, zeros(1,3), 0, 0, candidateGeometry, sensor, @gradientAscent, tc.comRange);
% Make sure candidate agent doesn't collide with % Make sure candidate agent doesn't collide with
% domain % domain
@@ -378,14 +378,14 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
tc.agents = {agent; agent}; tc.agents = {agent; agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d, sprintf("Agent %d", 1)); tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + dh + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3*d);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d, sprintf("Agent %d", 2)); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center + dh - [d, 0, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3*d);
% Optional third agent along the +Y axis % Optional third agent along the +Y axis
geometry3 = rectangularPrism; geometry3 = rectangularPrism;
geometry3 = geometry3.initialize([tc.domain.center + dh - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3)); geometry3 = geometry3.initialize([tc.domain.center + dh - [0, d, 0] - tc.collisionRanges(1) * ones(1, 3); tc.domain.center + dh - [0, d, 0] + tc.collisionRanges(1) * ones(1, 3)], REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 3));
tc.agents{3} = agent; tc.agents{3} = agent;
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d, sprintf("Agent %d", 3)); tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + dh - [0, d, 0], zeros(1, 3), 0, 0, geometry3, sensor, @gradientAscent, 3*d);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
@@ -415,7 +415,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
tc.agents = {agent}; tc.agents = {agent};
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, sprintf("Agent %d", 1)); tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2), 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
@@ -445,7 +445,7 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
tc.agents = {agent}; tc.agents = {agent};
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, sprintf("Agent %d", 1), true); tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/3, 3], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, "", true);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo);
@@ -481,8 +481,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
tc.agents = {agent; agent}; tc.agents = {agent; agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, sprintf("Agent %d", 1), false); tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + d, zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, sprintf("Agent %d", 2), false); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3);
% Initialize the simulation % Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo, tc.makePlots); tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.minAlt, tc.timestep, tc.partitoningFreq, tc.maxIter, cell(0, 1), tc.makeVideo, tc.makePlots);
@@ -516,8 +516,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
tc.agents = {agent; agent;}; tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 10, sprintf("Agent %d", 1), false, false); tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 10);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 10, sprintf("Agent %d", 2), false, false); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.5, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 10);
% Initialize obstacles % Initialize obstacles
obstacleLength = 1; obstacleLength = 1;
@@ -557,8 +557,8 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
commsRadius = 5; commsRadius = 5;
tc.agents = {agent; agent;}; tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 1), false); tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 2), false); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - [0, d, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius);
% Initialize obstacles % Initialize obstacles
obstacleLength = 1.5; obstacleLength = 1.5;
@@ -605,14 +605,14 @@ classdef test_miSim < matlab.unittest.TestCase
% Initialize agents % Initialize agents
commsRadius = d; commsRadius = d;
tc.agents = {agent; agent; agent; agent; agent;}; tc.agents = {agent; agent; agent; agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 1), false); tc.agents{1} = tc.agents{1}.initialize(tc.domain.center + [d, 0, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, commsRadius);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 2), false); tc.agents{2} = tc.agents{2}.initialize(tc.domain.center, zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, commsRadius);
tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], zeros(1,3), 0, 0, geometry3, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 3), false); tc.agents{3} = tc.agents{3}.initialize(tc.domain.center + [-d, d, 0], zeros(1,3), 0, 0, geometry3, sensor, @gradientAscent, commsRadius);
tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], zeros(1,3), 0, 0, geometry4, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 4), false); tc.agents{4} = tc.agents{4}.initialize(tc.domain.center + [-2*d, d, 0], zeros(1,3), 0, 0, geometry4, sensor, @gradientAscent, commsRadius);
tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, @gradientAscent, commsRadius, sprintf("Agent %d", 5), false); tc.agents{5} = tc.agents{5}.initialize(tc.domain.center + [0, d, 0], zeros(1,3), 0, 0, geometry5, sensor, @gradientAscent, commsRadius);
% TODO % TODO
% make agent label and ID optional, they can be derived from index % make agent label optional, can be derived from index
% Consider how to do the same for collision geometry label % Consider how to do the same for collision geometry label
% make @gradientAscent always the choice % make @gradientAscent always the choice
% Build collision geometry initialization into agent initialization? % Build collision geometry initialization into agent initialization?