57 lines
1.5 KiB
Matlab
57 lines
1.5 KiB
Matlab
function [obj] = run(obj)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'miSim')};
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end
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arguments (Output)
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obj (1, 1) {mustBeA(obj, 'miSim')};
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end
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% Start video writer
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if obj.makeVideo
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v = obj.setupVideoWriter();
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v.open();
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end
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for ii = 1:size(obj.times, 1)
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% Display current sim time
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obj.t = obj.times(ii);
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fprintf("Sim Time: %4.2f (%d/%d)\n", obj.t, ii, obj.maxIter + 1);
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% Check if it's time for new partitions
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updatePartitions = false;
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if ismember(obj.t, obj.partitioningTimes)
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updatePartitions = true;
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obj = obj.partition();
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end
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% Iterate over agents to simulate their motion
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for jj = 1:size(obj.agents, 1)
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obj.agents{jj} = obj.agents{jj}.run(obj.domain, obj.partitioning, obj.t);
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end
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% Adjust motion determined by unconstrained gradient ascent using
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% CBF constraints solved by QP
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obj = constrainMotion(obj);
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% Update total performance
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obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(end), obj.agents))];
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% Update adjacency matrix
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obj = obj.updateAdjacency();
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% Update plots
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obj = obj.updatePlots(updatePartitions);
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% Write frame in to video
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if obj.makeVideo
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I = getframe(obj.f);
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v.writeVideo(I);
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end
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end
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if obj.makeVideo
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% Close video file
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v.close();
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end
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end
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