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lots of cleanup and simplification in test case construction

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This commit is contained in:
Kevin Dee
2026-01-13 21:17:35 -08:00
parent 08e396c155
commit bcb3bc3da3
65 changed files with 150 additions and 265 deletions
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8
@miSim/initialize.m
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@@ -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);