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geometries move in plots as sim runs

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This commit is contained in:
Kevin D
2025-10-27 22:38:39 -07:00
parent ade795b3ae
commit bbefb6111b
6 changed files with 139 additions and 89 deletions
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63
test_miSim.m
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@@ -235,35 +235,7 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter, tc.obstacles);
% Plot domain
f = tc.testClass.domain.plotWireframe;
% Set plotting limits to focus on the domain
xlim([tc.testClass.domain.minCorner(1), tc.testClass.domain.maxCorner(1)]);
ylim([tc.testClass.domain.minCorner(2), tc.testClass.domain.maxCorner(2)]);
zlim([tc.testClass.domain.minCorner(3), tc.testClass.domain.maxCorner(3)]);
% Plot obstacles
for ii = 1:size(tc.testClass.obstacles, 1)
tc.testClass.obstacles{ii}.plotWireframe(f);
end
% Plot objective gradient
f = tc.testClass.objective.plot(f);
% Plot agents and their collision geometries
for ii = 1:size(tc.testClass.agents, 1)
f = tc.testClass.agents{ii}.plot(f);
f = tc.testClass.agents{ii}.collisionGeometry.plotWireframe(f);
end
% Plot communication links
f = tc.testClass.plotNetwork(f);
% Plot abstract network graph
f = tc.testClass.plotGraph(f);
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter, tc.obstacles);
end
function misim_run(tc)
% randomly create obstacles
@@ -424,39 +396,10 @@ classdef test_miSim < matlab.unittest.TestCase
end
% Initialize the simulation
tc.testClass = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter, tc.obstacles);
% Plot domain
f = tc.testClass.domain.plotWireframe;
% Set plotting limits to focus on the domain
xlim([tc.testClass.domain.minCorner(1), tc.testClass.domain.maxCorner(1)]);
ylim([tc.testClass.domain.minCorner(2), tc.testClass.domain.maxCorner(2)]);
zlim([tc.testClass.domain.minCorner(3), tc.testClass.domain.maxCorner(3)]);
% Plot obstacles
for ii = 1:size(tc.testClass.obstacles, 1)
tc.testClass.obstacles{ii}.plotWireframe(f);
end
% Plot objective gradient
f = tc.testClass.objective.plot(f);
% Plot agents and their collision geometries
for ii = 1:size(tc.testClass.agents, 1)
f = tc.testClass.agents{ii}.plot(f);
f = tc.testClass.agents{ii}.collisionGeometry.plotWireframe(f);
end
% Plot communication links
f = tc.testClass.plotNetwork(f);
% Plot abstract network graph
f = tc.testClass.plotGraph(f);
[tc.testClass, f] = tc.testClass.initialize(tc.domain, tc.objective, tc.agents, tc.timestep, tc.maxIter, tc.obstacles);
% Run simulation loop
tc.testClass.run();
[tc.testClass, f] = tc.testClass.run(f);
end
end
end