finalized plotting utility

aerpaw/results/resultsAnalysis.m

@@ -0,0 +1,66 @@
+%% Plot AERPAW logs (trajectory, radio)
+resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t1"); % Define path to results copied from AERPAW platform
+
+% Plot GPS logged data and scenario information (domain, objective, obstacles)
+seaToGroundLevel = 110; % measured approximately from USGS national map viewer
+[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel);
+
+% Plot radio statistics
+[fRadio, R] = plotRadioLogs(resultsPath);
+
+%% Run simulation
+% Run miSim using same AERPAW scenario definition CSV
+csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
+params = readScenarioCsv(csvPath);
+
+% Visualization settings
+plotCommsGeometry = false;
+makePlots = true;
+makeVideo = true;
+
+% Define scenario according to CSV specification
+domain = rectangularPrism;
+domain = domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
+domain.objective = domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, reshape(params.objectiveVar, [2 2])), domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
+
+agents = cell(size(params.initialPositions, 2) / 3, 1);
+for ii = 1:size(agents, 1)
+    agents{ii} = agent;
+
+    sensorModel = sigmoidSensor;
+    sensorModel = sensorModel.initialize(params.alphaDist(ii), params.betaDist(ii), params.alphaTilt(ii), params.betaTilt(ii));
+
+    collisionGeometry = spherical;
+    collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
+
+    agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), plotCommsGeometry);
+end
+
+% Create obstacles
+obstacles = cell(params.numObstacles, 1);
+for ii = 1:size(obstacles, 1)
+    obstacles{ii} = rectangularPrism;
+    obstacles{ii} = obstacles{ii}.initialize([params.obstacleMin((((ii - 1) * 3) + 1):(ii * 3)); params.obstacleMax((((ii - 1) * 3) + 1):(ii * 3))], "OBSTACLE", sprintf("Obstacle %d", ii));
+end
+
+% Set up simulation
+sim = miSim;
+sim = sim.initialize(domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, makePlots, makeVideo);
+
+% Save simulation parameters to output file
+sim.writeInits();
+
+% Run
+sim = sim.run();
+
+%% Plot AERPAW trajectory logs onto simulated result for comparison
+% Duplicate plot to overlay with logged trajectories
+comparison = figure;
+copyobj(sim.f.Children, comparison);
+
+% Plot trajectories on top
+hold(comparison.Children.Children(end), "on");
+for ii = 1:size(G, 1)
+    plot3(comparison.Children(1).Children(end), G{ii}.East, G{ii}.North, G{ii}.Up + seaToGroundLevel, 'Color', 'r', 'LineWidth', 1);
+end
+hold(comparison.Children.Children(end), "off");