added agent position trail to plot

@miSim/initialize.m

@@ -28,6 +28,7 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
 
     % Define simulation time parameters
     obj.timestep = timestep;
+    obj.timestepIndex = 0;
     obj.maxIter = maxIter - 1;
 
     % Define domain
@@ -66,6 +67,10 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
     % Create initial partitioning
     obj = obj.partition();
 
+    % Initialize variable that will store agent positions for trail plots
+    obj.posHist = NaN(size(obj.agents, 1), obj.maxIter + 1, 3);
+    obj.posHist(1:size(obj.agents, 1), 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false)), size(obj.agents, 1), 1, 3);
+
     % Set up plots showing initialized state
     obj = obj.plot();
 end

@miSim/miSim.m

@@ -4,6 +4,7 @@ classdef miSim
     % Simulation parameters
     properties (SetAccess = private, GetAccess = public)
         timestep = NaN; % delta time interval for simulation iterations
+        timestepIndex = NaN; % index of the current timestep (useful for time-indexed arrays)
         partitioningFreq = NaN; % number of simulation timesteps at which the partitioning routine is re-run
         maxIter = NaN; % maximum number of simulation iterations
         domain = rectangularPrism;
@@ -35,9 +36,11 @@ classdef miSim
         connectionsPlot; % objects for lines connecting agents in spatial plots
         graphPlot; % objects for abstract network graph plot
         partitionPlot; % objects for partition plot
-
         performancePlot; % objects for sensor performance plot
 
+        posHist; % data for trail plot
+        trailPlot; % objects for agent trail plot
+
         % Indicies for various plot types in the main tiled layout figure
         spatialPlotIndices = [6, 4, 3, 2];
         objectivePlotIndices = [6, 4];
@@ -56,6 +59,7 @@ classdef miSim
         [obj] = plotConnections(obj);
         [obj] = plotPartitions(obj);
         [obj] = plotGraph(obj);
+        [obj] = plotTrails(obj);
         [obj] = updatePlots(obj, updatePartitions);
     end
     methods (Access = private)

@miSim/plot.m

@@ -36,6 +36,9 @@ function obj = plot(obj)
     % Plot domain partitioning
     obj = obj.plotPartitions();
 
+    % Plot agent trails
+    obj = obj.plotTrails();
+
     % Enforce plot limits
     for ii = 1:size(obj.spatialPlotIndices, 2)
         xlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);

@miSim/plotPerformance.m

@@ -37,10 +37,7 @@ function obj = plotPerformance(obj)
     end
 
     % Add legend
-    agentStrings = repmat("Agent %d", size(obj.perf, 1) - 1, 1);
+    agentStrings = string(cellfun(@(x) x.label, obj.agents, 'UniformOutput', false));
-    for ii = 1:size(agentStrings, 1)
-        agentStrings(ii) = sprintf(agentStrings(ii), ii);
-    end
     agentStrings = ["Total"; agentStrings];
     legend(obj.fPerf.Children(1), agentStrings, 'Location', 'northwest');
 

@miSim/plotTrails.m

@@ -0,0 +1,31 @@
+function obj = plotTrails(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')}
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')}
+    end
+    
+    % fast exit when plotting is disabled
+    if ~obj.makePlots
+        return;
+    end
+
+    % Plot full range of position history on each spatial plot axes
+    o = [];
+    for ii = 1:(size(obj.posHist, 1))
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), 'on');
+        o = [o; plot3(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), obj.posHist(ii, 1:obj.maxIter, 1), obj.posHist(ii, 1:obj.maxIter, 2), obj.posHist(ii, 1:obj.maxIter, 3), 'Color', 'k', 'LineWidth', 1)];
+        hold(obj.f.Children(1).Children(obj.spatialPlotIndices(1)), 'off');
+    end
+
+    % Copy trails to other figures?
+    obj.trailPlot = o;
+
+    % Add legend?
+    % TODO legend?
+    % TODO unique colors for agent trails (same as performance plot?)
+    % Could be agent-specific colors (stored as agent property)
+    keyboard
+
+end

@miSim/run.m

@@ -15,6 +15,7 @@ function [obj] = run(obj)
     for ii = 1:size(obj.times, 1)
         % Display current sim time
         obj.t = obj.times(ii);
+        obj.timestepIndex = ii;
         fprintf("Sim Time: %4.2f (%d/%d)\n", obj.t, ii, obj.maxIter + 1);
 
         % Check if it's time for new partitions
@@ -38,6 +39,9 @@ function [obj] = run(obj)
 
         % Finished simulation for this timestep, do accounting
 
+        % Update agent position history array
+        obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false)), size(obj.agents, 1), 1, 3);
+
         % Update total performance
         obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(end), obj.agents))];
 

@miSim/updatePlots.m

@@ -17,8 +17,8 @@ function [obj] = updatePlots(obj, updatePartitions)
         obj.agents{ii}.updatePlots();
     end
 
-    % The remaining updates might be possible to do in a clever way
+    % The remaining updates might should all be possible to do in a clever 
-    % that moves existing lines instead of clearing and 
+    % way that moves existing lines instead of clearing and 
     % re-plotting, which is much better for performance boost
 
     % Update agent connections plot
@@ -41,15 +41,23 @@ function [obj] = updatePlots(obj, updatePartitions)
         ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
         zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
     end
+
+    % Update agent trails
+    for ii = 1:size(obj.agents, 1)
+        obj.trailPlot(ii).XData(obj.timestepIndex) = obj.posHist(ii, obj.timestepIndex, 1);
+        obj.trailPlot(ii).YData(obj.timestepIndex) = obj.posHist(ii, obj.timestepIndex, 2);
+        obj.trailPlot(ii).ZData(obj.timestepIndex) = obj.posHist(ii, obj.timestepIndex, 3);
+    end
+
     drawnow;
     
     % Update performance plot
     % Re-normalize performance plot
     normalizingFactor = 1/max(obj.performance(end));
     obj.performancePlot(1).YData(1:length(obj.performance)) = obj.performance * normalizingFactor;
-    obj.performancePlot(1).XData(find(isnan(obj.performancePlot(1).XData), 1, 'first')) = obj.t;
+    obj.performancePlot(1).XData(obj.timestepIndex) = obj.t;
     for ii = 2:(size(obj.agents, 1) + 1)
         obj.performancePlot(ii).YData(1:length(obj.performance)) = obj.agents{ii - 1}.performance * normalizingFactor;
-        obj.performancePlot(ii).XData(find(isnan(obj.performancePlot(ii).XData), 1, 'first')) = obj.t;
+        obj.performancePlot(ii).XData(obj.timestepIndex) = obj.t;
     end
 end