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This commit is contained in:
Kevin Dee
2026-03-17 22:15:42 -07:00
parent 8c3b853895
commit f23675a54c
4 changed files with 36 additions and 20 deletions
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43
plot_3.m
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@@ -19,10 +19,10 @@ x3 = axes;
assert(size(init.objectivePos, 1) == 1)
assert(hist.useDoubleIntegrator);
plot(hist.perf./init.objectiveIntegral);
plot(hist.perf./init.objectiveIntegral, "LineWidth", 2);
hold("on");
for ii = 1:length(hist.agent)
plot(hist.agent(ii).perf./init.objectiveIntegral);
plot(hist.agent(ii).perf./init.objectiveIntegral, "LineWidth", 2);
end
grid("on");
ylabel("Performance (normalized)");
@@ -30,6 +30,9 @@ xlabel("Timestep");
legend(["Cumulative"; "Agent 1"; "Agent 2"; "Agent 3"; "Agent 4"], "Location", "northwest");
title("$AII\beta$ Performance", "Interpreter", "latex");
savefig(f3, "plot3.fig");
exportgraphics(f3, "plot3.png");
f4 = figure;
x4 = axes;
@@ -55,7 +58,7 @@ end
hold(x4, 'on');
hLeft = gobjects(nPairs, 1);
for pp = 1:nPairs
hLeft(pp) = plot(x4, pairDistMat(:, pp), 'LineWidth', 1);
hLeft(pp) = plot(x4, pairDistMat(:, pp), 'LineWidth', 2);
end
yline(x4, collisionRadius, 'r--', "Label", "Collision Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
yline(x4, commsRadius, 'r--', "Label", "Communications Radius", "LabelHorizontalAlignment", "left", "HandleVisibility", "off");
@@ -75,7 +78,11 @@ for jj = 1:nAgents-1
pairLabels(pp) = sprintf("Agents %d-%d Distance", jj, kk);
end
end
% Left legend created after right-axis plots (see below)
l = legend(hLeft(:), pairLabels(:), "Location", "northeast");
savefig(f4, "plot4_distanceOnly.fig");
exportgraphics(f4, "plot4_distanceOnly.png");
% Plot all barrier function values on right Y-axis
nObs = init.numObstacles;
@@ -102,32 +109,34 @@ comStart = domStart + nAD;
hRight = gobjects(0, 1);
rightLabels = strings(0, 1);
for pp = 1:nAA
hRight(end+1) = plot(x4, hist.barriers(colStart + pp - 1, :), '--', 'LineWidth', 1, 'Color', pairColors(pp, :));
hRight(end+1) = plot(x4, hist.barriers(colStart + pp - 1, :), '--', 'LineWidth', 1.5, 'Color', pairColors(pp, :));
rightLabels(end+1) = sprintf('h_{col} %d', pp);
end
for pp = 1:nComms
hRight(end+1) = plot(x4, hist.barriers(comStart + pp - 1, :), '-', 'LineWidth', 1.5, 'Color', pairColors(pp, :));
hRight(end+1) = plot(x4, hist.barriers(comStart + pp - 1, :), '-.', 'LineWidth', 1.5, 'Color', pairColors(pp, :));
rightLabels(end+1) = sprintf('h_{com} %d', pp);
end
% Obstacle barriers — colored by agent
idx = obsStart;
for aa = 1:nAgents
for oo = 1:nObs
hRight(end+1) = plot(x4, hist.barriers(idx, :), ':', 'LineWidth', 1, 'Color', agentColors(aa, :));
rightLabels(end+1) = sprintf('h_{obs} a%d-o%d', aa, oo);
idx = idx + 1;
end
end
% idx = obsStart;
% for aa = 1:nAgents
% for oo = 1:nObs
% hRight(end+1) = plot(x4, hist.barriers(idx, :), ':', 'LineWidth', 1, 'Color', agentColors(aa, :));
% rightLabels(end+1) = sprintf('h_{obs} a%d-o%d', aa, oo);
% idx = idx + 1;
% end
% end
hold(x4, 'off');
ylabel(x4, "Barrier function $h$", "Interpreter", "latex");
% Clamp both Y-axes to start at 0
yyaxis(x4, 'left'); ylim(x4, [0, 25]);
yyaxis(x4, 'right'); ylim(x4, [0, inf]);
yyaxis(x4, 'right'); ylim(x4, [0, 275]);
x4.YAxis(2).Color = 'k';
% Combined legend
legend([hLeft(:); hRight(:)], [pairLabels(:); rightLabels(:)], "Location", "eastoutside");
l = legend([hLeft(:); hRight(:)], [pairLabels(:); rightLabels(:)], "Location", "eastoutside");
savefig(f4, "plot4.fig");
exportgraphics(f4, "plot4.png");