added h plots

@miSim/constrainMotion.m

@@ -96,6 +96,9 @@ function [obj] = constrainMotion(obj)
         kk = kk + 1;
     end
 
+    % Save off h function values (ignoring network constraints which may evolve in time)
+    obj.h(:, obj.timestepIndex) = [h(triu(true(size(obj.agents, 1)), 1)); reshape(hObs, [], 1); h_xMin; h_xMax; h_yMin; h_yMax; h_zMin; h_zMax;]; 
+
     % Add communication network constraints
     hComms = NaN(size(obj.agents, 1));
     hComms(logical(eye(size(obj.agents, 1)))) = 0;

@miSim/initialize.m

@@ -78,6 +78,9 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
     % Prepare performance data store (at t = 0, all have 0 performance)
     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);
+
     % Create initial partitioning
     obj = obj.partition();
 

@miSim/miSim.m

@@ -46,6 +46,13 @@ classdef miSim
         objectivePlotIndices = [6, 4];
         networkGraphIndex = 5;
         partitionGraphIndex = 1;
+
+        % CBF plotting
+        h; % h function values
+        hf; % h function plotting figure
+        caPlot; % objects for collision avoidance h function plot
+        obsPlot; % objects for obstacle h function plot
+        domPlot; % objects for domain h function plot
     end
 
     methods (Access = public)
@@ -60,6 +67,7 @@ classdef miSim
         [obj] = plotPartitions(obj);
         [obj] = plotGraph(obj);
         [obj] = plotTrails(obj);
+        [obj] = plotH(obj);
         [obj] = updatePlots(obj, updatePartitions);
         validate(obj);
     end

@miSim/plot.m

@@ -48,4 +48,7 @@ function obj = plot(obj)
 
     % Plot performance
     obj = obj.plotPerformance();
+
+    % Plot h functions
+    obj = obj.plotH();
 end

@miSim/plotH.m

@@ -0,0 +1,61 @@
+function obj = plotH(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    obj.hf = figure;
+    tiledlayout(obj.hf, 4, 1, "TileSpacing", "tight", "Padding", "compact");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
+    title(obj.hf.Children(1).Children(1), "Collision Avoidance");
+    hold(obj.hf.Children(1).Children(1), "on");
+    obj.caPlot = plot(obj.h(1:(size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2), :)');
+    legendStrings = [];
+    for ii = 2:size(obj.agents, 1)
+        for jj = 1:(ii - 1)
+            legendStrings = [legendStrings; sprintf("A%d A%d", jj, ii)];
+        end
+    end
+    legend(obj.hf.Children(1).Children(1), legendStrings, 'Location', 'bestoutside');
+    hold(obj.hf.Children(1).Children(2), "off");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(2), "");
+    title(obj.hf.Children(1).Children(1), "Obstacles");
+    hold(obj.hf.Children(1).Children(1), "on");
+    obj.obsPlot = plot(obj.h((1 + (size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)):(((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1)), :)');
+    legendStrings = [];
+    for ii = 1:size(obj.obstacles, 1)
+        for jj = 1:size(obj.agents, 1)
+            legendStrings = [legendStrings; sprintf("A%d O%d", jj, ii)];
+        end
+    end
+    legend(obj.hf.Children(1).Children(1), legendStrings, 'Location', 'bestoutside');
+    hold(obj.hf.Children(1).Children(2), "off");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
+    title(obj.hf.Children(1).Children(1), "Domain");
+    hold(obj.hf.Children(1).Children(1), "on");
+    obj.domPlot = plot(obj.h((1 + (((size(obj.agents, 1) * (size(obj.agents, 1) - 1) / 2)) + size(obj.agents, 1) * size(obj.obstacles, 1))):size(obj.h, 1), 1:end)');
+    legend(obj.hf.Children(1).Children(1), ["X Min"; "X Max"; "Y Min"; "Y Max"; "Z Min"; "Z Max";], 'Location', 'bestoutside');
+    hold(obj.hf.Children(1).Children(2), "off");
+
+    nexttile(obj.hf.Children(1));
+    axes(obj.hf.Children(1).Children(1));
+    grid(obj.hf.Children(1).Children(1), "on");
+    xlabel(obj.hf.Children(1).Children(1), "Time (s)"); % ylabel(obj.hf.Children(1).Children(1), "");
+    title(obj.hf.Children(1).Children(1), "Communications");
+    % skipped this for now because it is very complicated
+
+end

@miSim/updatePlots.m

@@ -60,4 +60,15 @@ function [obj] = updatePlots(obj, updatePartitions)
         obj.performancePlot(ii).YData(1:length(obj.performance)) = obj.agents{ii - 1}.performance * normalizingFactor;
         obj.performancePlot(ii).XData(obj.timestepIndex) = obj.t;
     end
+
+    % Update h function plots
+    for ii = 1:size(obj.caPlot, 1)
+        obj.caPlot(ii).YData(obj.timestepIndex) = obj.h(ii, obj.timestepIndex);
+    end
+    for ii = 1:size(obj.obsPlot, 1)
+        obj.obsPlot(ii).YData(obj.timestepIndex) = obj.h(ii + size(obj.caPlot, 1), obj.timestepIndex);
+    end
+    for ii = 1:size(obj.domPlot, 1)
+        obj.domPlot(ii).YData(obj.timestepIndex) = obj.h(ii + size(obj.caPlot, 1) + size(obj.obsPlot, 1), obj.timestepIndex);
+    end
 end