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added cone geometry, implemented fov visualization

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This commit is contained in:
Kevin D
2025-11-13 09:39:02 -08:00
parent 3d35179579
commit a2eb95381d
5 changed files with 102 additions and 14 deletions
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18
agent.m
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@@ -21,6 +21,9 @@ classdef agent
% Collision
collisionGeometry;
% FOV cone
fovGeometry;
% Communication
comRange = NaN;
@@ -57,6 +60,10 @@ classdef agent
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], obj.sensorModel.r, obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
end
function obj = run(obj, sensingObjective, domain, partitioning)
arguments (Input)
@@ -113,7 +120,13 @@ classdef agent
end
end
% Network connections
% 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)
@@ -146,6 +159,9 @@ classdef agent
% 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