lots of cleanup and simplification in test case construction

@miSim/constrainMotion.m

@@ -14,6 +14,11 @@ function [obj] = constrainMotion(obj)
 
     agents = [obj.agents{:}];
     v = reshape(([agents.pos] - [agents.lastPos])./obj.timestep, 3, size(obj.agents, 1))';
+    if all(isnan(v)) || all(v == zeros(1, 3))
+        % Agents are not attempting to move, so there is no motion to be
+        % constrained
+        return;
+    end
 
     % Initialize QP based on number of agents and obstacles
     nAOPairs = size(obj.agents, 1) * size(obj.obstacles, 1); % unique agent/obstacle pairs

@miSim/initialize.m

@@ -1,8 +1,7 @@
-function obj = initialize(obj, domain, objective, agents, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
+function obj = initialize(obj, domain, agents, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'miSim')};
         domain (1, 1) {mustBeGeometry};
-        objective (1, 1) {mustBeA(objective, 'sensingObjective')};
         agents (:, 1) cell;
         minAlt (1, 1) double = 1;
         timestep (:, 1) double = 0.05;
@@ -44,9 +43,6 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, maxI
         obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
     end
 
-    % Define objective
-    obj.objective = objective;
-
     % Define agents
     obj.agents = agents;
     obj.constraintAdjacencyMatrix = logical(eye(size(agents, 1)));
@@ -76,7 +72,7 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, maxI
     obj.perf = [zeros(size(obj.agents, 1) + 1, 1), NaN(size(obj.agents, 1) + 1, size(obj.partitioningTimes, 1) - 1)];
 
     % Prepare h function data store
-    obj.h = NaN(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2 + size(obj.agents, 1) * size(obj.obstacles, 1) + 6, size(obj.times, 1) - 1);
+    obj.h = NaN(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2 + size(obj.agents, 1) * size(obj.obstacles, 1) + 6, size(obj.times, 1));
 
     % Create initial partitioning
     obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);

@miSim/miSim.m

@@ -55,7 +55,7 @@ classdef miSim
     end
 
     methods (Access = public)
-        [obj] = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles);
+        [obj] = initialize(obj, domain, agents, timestep, partitoningFreq, maxIter, obstacles);
         [obj] = run(obj);
         [obj] = lesserNeighbor(obj);
         [obj] = constrainMotion(obj);
@@ -69,6 +69,7 @@ classdef miSim
         [obj] = plotH(obj);
         [obj] = updatePlots(obj);
         validate(obj);
+        teardown(obj);
     end
     methods (Access = private)
         [v] = setupVideoWriter(obj);

@miSim/teardown.m

@@ -0,0 +1,13 @@
+function teardown(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+    end
+
+    % Close plots
+    close(obj.hf);
+    close(obj.fPerf);
+    close(obj.f);
+
+end