function obj = plotPerformance(obj)
    arguments (Input)
        obj (1, 1) {mustBeA(obj, 'miSim')};
    end
    arguments (Output)
        obj (1, 1) {mustBeA(obj, 'miSim')};
    end

    % fast exit when plotting is disabled
    if ~obj.makePlots
        return;
    end
    
    obj.fPerf = figure;

    axes(obj.fPerf);
    title(obj.fPerf.Children(1), "Sensor Performance");
    xlabel(obj.fPerf.Children(1), 'Time (s)');
    ylabel(obj.fPerf.Children(1), 'Sensor Performance');
    grid(obj.fPerf.Children(1), 'on');

    % Plot current cumulative performance
    hold(obj.fPerf.Children(1), 'on');
    o = plot(obj.fPerf.Children(1), obj.perf(end, :));
    warning('off', 'MATLAB:gui:array:InvalidArrayShape'); % suppress this warning to avoid polluting output
    o.XData = NaN(1, obj.maxIter); % correct time will be set at runtime
    o.YData = [0, NaN(1, obj.maxIter - 1)];
    hold(obj.fPerf.Children(1), 'off');

    % Plot current agent performance
    for ii = 1:(size(obj.perf, 1) - 1)
        hold(obj.fPerf.Children(1), 'on');
        o = [o; plot(obj.fPerf.Children(1), obj.perf(ii, :))];
        o(end).XData = NaN(1, obj.maxIter); % correct time will be set at runtime
        o(end).YData = [0, NaN(1, obj.maxIter - 1)];
        hold(obj.fPerf.Children(1), 'off');
    end

    % Add legend
    agentStrings = string(cellfun(@(x) x.label, obj.agents, 'UniformOutput', false));
    agentStrings = ["Total"; agentStrings];
    legend(obj.fPerf.Children(1), agentStrings, 'Location', 'northwest');

    obj.performancePlot = o;
end