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now doing partitioning on every timestep, looks super smooth

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Kevin Dee
2026-01-11 19:09:32 -08:00
parent 2a48b1d469
commit ff02e8a1c6
6 changed files with 28 additions and 68 deletions
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7
@miSim/initialize.m
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@@ -1,4 +1,4 @@
function obj = initialize(obj, domain, objective, agents, minAlt, timestep, partitoningFreq, maxIter, obstacles, makePlots, makeVideo)
function obj = initialize(obj, domain, objective, agents, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'miSim')};
domain (1, 1) {mustBeGeometry};
@@ -6,7 +6,6 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
agents (:, 1) cell;
minAlt (1, 1) double = 1;
timestep (:, 1) double = 0.05;
partitoningFreq (:, 1) double = 0.25
maxIter (:, 1) double = 1000;
obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
makePlots(1, 1) logical = true;
@@ -33,7 +32,6 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
% Define domain
obj.domain = domain;
obj.partitioningFreq = partitoningFreq;
% Add geometries representing obstacles within the domain
obj.obstacles = obstacles;
@@ -73,7 +71,6 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
% Set up times to iterate over
obj.times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
obj.partitioningTimes = obj.times(obj.partitioningFreq:obj.partitioningFreq:size(obj.times, 1));
% 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)];
@@ -82,7 +79,7 @@ function obj = initialize(obj, domain, objective, agents, minAlt, timestep, part
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();
obj.partitioning = obj.agents{1}.partition(obj.agents, obj.domain.objective);
% Initialize variable that will store agent positions for trail plots
obj.posHist = NaN(size(obj.agents, 1), obj.maxIter + 1, 3);