71 lines
2.5 KiB
Matlab
71 lines
2.5 KiB
Matlab
function obj = initialize(obj, domain, objective, agents, minAlt, timestep, partitoningFreq, maxIter, obstacles, makePlots, makeVideo)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'miSim')};
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domain (1, 1) {mustBeGeometry};
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objective (1, 1) {mustBeA(objective, 'sensingObjective')};
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agents (:, 1) cell;
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minAlt (1, 1) double = 1;
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timestep (:, 1) double = 0.05;
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partitoningFreq (:, 1) double = 0.25
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maxIter (:, 1) double = 1000;
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obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
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makePlots(1, 1) logical = true;
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makeVideo (1, 1) logical = true;
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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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% enable/disable plotting and video writer
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obj.makePlots = makePlots;
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if ~obj.makePlots
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if makeVideo
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warning("makeVideo set to true, but makePlots set to false. Setting makeVideo to false.");
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makeVideo = false;
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end
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end
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obj.makeVideo = makeVideo;
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% Define simulation time parameters
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obj.timestep = timestep;
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obj.maxIter = maxIter - 1;
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% Define domain
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obj.domain = domain;
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obj.partitioningFreq = partitoningFreq;
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% Add geometries representing obstacles within the domain
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obj.obstacles = obstacles;
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% Add an additional obstacle spanning the domain's footprint to
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% represent the minimum allowable altitude
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obj.minAlt = minAlt;
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if obj.minAlt > 0
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obj.obstacles{end + 1, 1} = rectangularPrism;
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obj.obstacles{end, 1} = obj.obstacles{end, 1}.initialize([obj.domain.minCorner; obj.domain.maxCorner(1:2), obj.minAlt], "OBSTACLE", "Minimum Altitude Domain Constraint");
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end
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% Define objective
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obj.objective = objective;
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% Define agents
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obj.agents = agents;
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obj.constraintAdjacencyMatrix = logical(eye(size(agents, 1)));
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% Compute adjacency matrix and lesser neighbors
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obj = obj.updateAdjacency();
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obj = obj.lesserNeighbor();
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% Set up times to iterate over
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obj.times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
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obj.partitioningTimes = obj.times(obj.partitioningFreq:obj.partitioningFreq:size(obj.times, 1));
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% Prepare performance data store (at t = 0, all have 0 performance)
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obj.perf = [zeros(size(obj.agents, 1) + 1, 1), NaN(size(obj.agents, 1) + 1, size(obj.partitioningTimes, 1) - 1)];
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% Create initial partitioning
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obj = obj.partition();
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% Set up plots showing initialized state
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obj = obj.plot();
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end |