44 lines
1.2 KiB
Matlab
44 lines
1.2 KiB
Matlab
classdef agent
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properties (SetAccess = public, GetAccess = public)
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% Identifiers
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label = "";
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% Sensor
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sensorModel;
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sensingLength = 0.05; % length parameter used by sensing function
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% State
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lastPos = NaN(1, 3); % position from previous timestep
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pos = NaN(1, 3); % current position
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vel = NaN(1, 3); % current velocity
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pan = NaN; % pan angle
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tilt = NaN; % tilt angle
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% Collision
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collisionGeometry;
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barrierFunction;
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dBarrierFunction;
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% FOV cone
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fovGeometry;
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% Communication
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comRange = NaN;
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commsGeometry = spherical;
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lesserNeighbors = [];
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performance = 0;
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% Plotting
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scatterPoints;
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plotCommsGeometry = true;
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end
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methods (Access = public)
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[obj] = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
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[obj] = run(obj, domain, partitioning, t, index, agents);
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[partitioning] = partition(obj, agents, objective)
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[obj, f] = plot(obj, ind, f);
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updatePlots(obj);
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end
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end |