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fixed bug allowing obstructed coms connections

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This commit is contained in:
Kevin D
2025-10-27 20:45:37 -07:00
parent 5c6eeed6fd
commit db0ce2d42d
3 changed files with 243 additions and 15 deletions
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54
miSim.m
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@@ -3,6 +3,8 @@ classdef miSim
% Simulation parameters
properties (SetAccess = private, GetAccess = public)
timestep = NaN; % delta time interval for simulation iterations
maxIter = NaN; % maximum number of simulation iterations
domain = rectangularPrism;
objective = sensingObjective;
obstacles = cell(0, 1); % geometries that define obstacles within the domain
@@ -11,33 +13,58 @@ classdef miSim
end
methods (Access = public)
function obj = initialize(obj, domain, objective, agents, obstacles)
function obj = initialize(obj, domain, objective, agents, timestep, maxIter, obstacles)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
domain (1, 1) {mustBeGeometry};
objective (1, 1) {mustBeA(objective, 'sensingObjective')};
agents (:, 1) cell {mustBeAgents};
timestep (:, 1) double = 0.05;
maxIter (:, 1) double = 1000;
obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
end
%% Define domain
% Define simulation time parameters
obj.timestep = timestep;
obj.maxIter = maxIter;
% Define domain
obj.domain = domain;
%% Add geometries representing obstacles within the domain
% Add geometries representing obstacles within the domain
obj.obstacles = obstacles;
%% Define objective
% Define objective
obj.objective = objective;
%% Define agents
% Define agents
obj.agents = agents;
%% Compute adjacency matrix
% Compute adjacency matrix
obj = obj.updateAdjacency();
end
function obj = run(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'miSim')};
end
keyboard
% Iterate over agents to simulate their motion
for ii = 1:size(obj.agents, 1)
obj.agents{ii}
end
% Update adjacency matrix
obj = obj.updateAdjacency;
% Update plots
end
function obj = updateAdjacency(obj)
arguments (Input)
@@ -54,7 +81,13 @@ classdef miSim
for ii = 2:size(A, 1)
for jj = 1:(ii - 1)
if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) <= min([obj.agents{ii}.comRange, obj.agents{jj}.comRange])
A(ii, jj) = true;
% Make sure that obstacles don't obstruct the line
% of sight, breaking the connection
for kk = 1:size(obj.obstacles, 1)
if ~obj.obstacles{kk}.containsLine(obj.agents{ii}.pos, obj.agents{jj}.pos)
A(ii, jj) = true;
end
end
end
end
end
@@ -86,7 +119,7 @@ classdef miSim
% Plot the connections
hold(f.CurrentAxes, "on");
o = plot3(X, Y, Z, 'Color', 'g', 'LineWidth', 1, 'LineStyle', '--');
o = plot3(X, Y, Z, 'Color', 'g', 'LineWidth', 2, 'LineStyle', '--');
hold(f.CurrentAxes, "off");
% Check if this is a tiled layout figure
@@ -111,11 +144,10 @@ classdef miSim
% Check if this is a tiled layout figure
if strcmp(f.Children(1).Type, 'tiledlayout')
o = plot(f.Children(1).Children(4), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k');
o = plot(f.Children(1).Children(4), G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
else
o = plot(f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k');
o = plot(f.CurrentAxes, G, 'LineStyle', '--', 'EdgeColor', 'g', 'NodeColor', 'k', 'LineWidth', 2);
end
end
end