69 lines
2.0 KiB
Matlab
69 lines
2.0 KiB
Matlab
function [obj] = run(obj)
|
|
arguments (Input)
|
|
obj (1, 1) {mustBeA(obj, 'miSim')};
|
|
end
|
|
arguments (Output)
|
|
obj (1, 1) {mustBeA(obj, 'miSim')};
|
|
end
|
|
|
|
% Start video writer
|
|
if obj.makeVideo
|
|
v = obj.setupVideoWriter();
|
|
v.open();
|
|
end
|
|
|
|
for ii = 1:size(obj.times, 1)
|
|
% Display current sim time
|
|
obj.t = obj.times(ii);
|
|
obj.timestepIndex = ii;
|
|
fprintf("Sim Time: %4.2f (%d/%d)\n", obj.t, ii, obj.maxIter + 1);
|
|
|
|
% Validate current simulation configuration
|
|
obj.validate();
|
|
|
|
% Check if it's time for new partitions
|
|
updatePartitions = false;
|
|
if ismember(obj.t, obj.partitioningTimes)
|
|
updatePartitions = true;
|
|
obj = obj.partition();
|
|
end
|
|
|
|
% Determine desired communications links
|
|
obj = obj.lesserNeighbor();
|
|
|
|
% Iterate over agents to simulate their unconstrained motion
|
|
for jj = 1:size(obj.agents, 1)
|
|
obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.t, jj);
|
|
end
|
|
|
|
% Adjust motion determined by unconstrained gradient ascent using
|
|
% CBF constraints solved by QP
|
|
obj = constrainMotion(obj);
|
|
|
|
% Finished simulation for this timestep, do accounting
|
|
|
|
% Update agent position history array
|
|
obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false)), size(obj.agents, 1), 1, 3);
|
|
|
|
% Update total performance
|
|
obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(end), obj.agents))];
|
|
|
|
% Update adjacency matrix
|
|
obj = obj.updateAdjacency();
|
|
|
|
% Update plots
|
|
obj = obj.updatePlots(updatePartitions);
|
|
|
|
% Write frame in to video
|
|
if obj.makeVideo
|
|
I = getframe(obj.f);
|
|
v.writeVideo(I);
|
|
end
|
|
end
|
|
|
|
if obj.makeVideo
|
|
% Close video file
|
|
v.close();
|
|
end
|
|
end
|