reorganized code into separate files

@sensingObjective/initialize.m

@@ -0,0 +1,34 @@
+function obj = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep)
+    arguments (Input)
+        obj (1,1) {mustBeA(obj, 'sensingObjective')};
+        objectiveFunction (1, 1) {mustBeA(objectiveFunction, 'function_handle')};
+        footprint (:, 2) double;
+        groundAlt (1, 1) double = 0;
+        discretizationStep (1, 1) double = 1;
+    end
+    arguments (Output)
+        obj (1,1) {mustBeA(obj, 'sensingObjective')};
+    end
+
+    obj.groundAlt = groundAlt;
+
+    % Extract footprint limits
+    xMin = min(footprint(:, 1));
+    xMax = max(footprint(:, 1));
+    yMin = min(footprint(:, 2));
+    yMax = max(footprint(:, 2));
+
+    xGrid = unique([xMin:discretizationStep:xMax, xMax]);
+    yGrid = unique([yMin:discretizationStep:yMax, yMax]);
+    
+    % Store grid points for plotting later
+    [obj.X, obj.Y] = meshgrid(xGrid, yGrid);
+
+    % Evaluate function over grid points
+    obj.objectiveFunction = objectiveFunction;
+    obj.values = reshape(obj.objectiveFunction(obj.X, obj.Y), size(obj.X));
+
+    % store ground position
+    idx = obj.values == max(obj.values, [], "all");
+    obj.groundPos = [obj.X(idx), obj.Y(idx)];
+end

@sensingObjective/plot.m

@@ -0,0 +1,36 @@
+function f = plot(obj, ind, f)
+    arguments (Input)
+        obj (1,1) {mustBeA(obj, 'sensingObjective')};
+        ind (1, :) double = NaN;
+        f (1,1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+    end
+    arguments (Output)
+        f (1,1) {mustBeA(f, 'matlab.ui.Figure')};
+    end
+
+    % Create axes if they don't already exist
+    f = firstPlotSetup(f);
+
+    % Plot gradient on the "floor" of the domain
+    if isnan(ind)
+        hold(f.CurrentAxes, "on");
+        o = surf(f.CurrentAxes, obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
+        o.HitTest = 'off';
+        o.PickableParts = 'none';
+        hold(f.CurrentAxes, "off");
+
+    else
+        hold(f.Children(1).Children(ind(1)), "on");
+        o = surf(f.Children(1).Children(ind(1)), obj.X, obj.Y, repmat(obj.groundAlt, size(obj.X)), obj.values ./ max(obj.values, [], "all"), 'EdgeColor', 'none');
+        o.HitTest = 'off';
+        o.PickableParts = 'none';
+        hold(f.Children(1).Children(ind(1)), "off");
+    end
+
+    % Add to other perspectives
+    if size(ind, 2) > 1
+        for ii = 2:size(ind, 2)
+            copyobj(o, f.Children(1).Children(ind(ii)));
+        end
+    end
+end

@sensingObjective/sensingObjective.m

@@ -0,0 +1,18 @@
+classdef sensingObjective
+    % Sensing objective definition parent class
+    properties (SetAccess = private, GetAccess = public)
+        label = "";
+        groundAlt = 0;
+        groundPos = [0, 0];
+        discretizationStep = 1;
+        objectiveFunction = @(x, y) 0; % define objective functions over a grid in this manner
+        X = [];
+        Y = [];
+        values = [];
+    end
+
+    methods (Access = public)
+        [obj] = initialize(obj, objectiveFunction, footprint, groundAlt, discretizationStep);
+        [f  ] = plot(obj, ind, f);
+    end
+end