finalized plotting utility

@miSim/miSim.m

@@ -19,6 +19,7 @@ classdef miSim
         barrierExponent = NaN; % CBF exponent parameter
         minAlt = 0; % minimum allowable altitude (m)
         artifactName = "";
+        f; % main plotting tiled layout figure
         fPerf; % performance plot figure
     end
 
@@ -31,7 +32,6 @@ classdef miSim
         % Plot objects
         makePlots = true; % enable/disable simulation plotting (performance implications)
         makeVideo = true; % enable/disable VideoWriter (performance implications)
-        f; % main plotting tiled layout figure
         connectionsPlot; % objects for lines connecting agents in spatial plots
         graphPlot; % objects for abstract network graph plot
         partitionPlot; % objects for partition plot

aerpaw/results/plotGpsLogs.m

@@ -1,9 +1,11 @@
-function f = plotGpsLogs(logDirs)
+function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel)
     arguments (Input)
         logDirs (1, 1) string;
+        seaToGroundLevel (1, 1) double = 110; % measured approximately from USGS national map viewer for the AERPAW test field
     end
     arguments (Output)
         f (1, 1) matlab.ui.Figure;
+        G cell;
     end
     % Plot setup
     f = uifigure;
@@ -17,9 +19,6 @@ function f = plotGpsLogs(logDirs)
     % configured data
     params = readScenarioCsv(scenarioCsv);
     
-    % coordinate system constants
-    seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
-    
     fID = fopen(fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "client1.yaml"), 'r');
     yaml = fscanf(fID, '%s');
     fclose(fID);
@@ -45,12 +44,19 @@ function f = plotGpsLogs(logDirs)
     
         % Automatically detect start/stop of algorithm flight (ignore takeoff, setup, return to liftoff, landing segments of flight)
         pctThreshold = 60; % pctThreshold may need adjusting depending on your flight
-        startIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'first');
-        stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
+        startIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, "first");
+        stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, "last");
     
         % % Plot whole flight, including setup/cleanup
         % startIdx = 1;
         % stopIdx = length(verticalSpeed);
+
+        % Convert LLA trajectory data to ENU for external analysis
+        % NaN out entries outside the algorithm flight range so they don't plot
+        enu = NaN(height(G{ii}), 3);
+        enu(startIdx:stopIdx, :) = lla2enu([G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx)], lla0, "flat");
+        enu = array2table(enu, 'VariableNames', ["East", "North", "Up"]);
+        G{ii} = [G{ii}, enu];
     
         % Plot recorded trajectory over specified range of indices
         geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
@@ -58,7 +64,7 @@ function f = plotGpsLogs(logDirs)
     
     % Plot domain
     altOffset = 1; % to avoid clipping into the ground when displayed
-    domain = [lla0; enu2lla(params.domainMax, lla0, 'flat')];
+    domain = [lla0; enu2lla(params.domainMax, lla0, "flat")];
     geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
     geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
     geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
@@ -72,12 +78,12 @@ function f = plotGpsLogs(logDirs)
     
     % Plot objective
     objectivePos = [params.objectivePos, 0];
-    llaObj = enu2lla(objectivePos, lla0, 'flat');
+    llaObj = enu2lla(objectivePos, lla0, "flat");
     geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
     
     % Plot obstacles
     for ii = 1:params.numObstacles
-        obstacle = enu2lla([params.obstacleMin((1 + (ii - 1) * 3):(ii * 3)); params.obstacleMax((1 + (ii - 1) * 3):(ii * 3))], lla0, 'flat');
+        obstacle = enu2lla([params.obstacleMin((1 + (ii - 1) * 3):(ii * 3)); params.obstacleMax((1 + (ii - 1) * 3):(ii * 3))], lla0, "flat");
         geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
         geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
         geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');

aerpaw/results/plotRadioLogs.m

@@ -1,10 +1,10 @@
-function f = plotRadioLogs(resultsPath)
+function [f, R] = plotRadioLogs(resultsPath)
     arguments (Input)
         resultsPath (1, 1) string;
     end
-    
     arguments (Output)
         f (1, 1) matlab.ui.Figure;
+        R cell;
     end
 
     logDirs = dir(resultsPath);

aerpaw/results/plotResults.m

@@ -1,14 +0,0 @@
-%% 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)
-fGlobe = plotGpsLogs(resultsPath);
-
-% Plot radio statistics
-fRadio = plotRadioLogs(resultsPath);
-
-%% Run simulation
-% Run miSim using same AERPAW scenario definition CSV
-
-
-%% Plot AERPAW trajectory logs onto simulated result for comparison

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");

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/7gy57K96rjt00mZ48_G_oNq20IMp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="plotResults.m" type="File"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/qpxmhcwIacwqdjVXqua3hmJxvJYp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="resultsAnalysis.m" type="File"/>