36 lines
1.1 KiB
Matlab
36 lines
1.1 KiB
Matlab
function obj = updateAdjacency(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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% Initialize assuming only self-connections
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A = true(size(obj.agents, 1));
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% Check lower triangle off-diagonal connections
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for ii = 2:size(A, 1)
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for jj = 1:(ii - 1)
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% Check that agents are not out of range
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if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) > min([obj.agents{ii}.comRange, obj.agents{jj}.comRange]);
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A(ii, jj) = false; % comm range violation
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continue;
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end
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% % Check that agents do not have their line of sight obstructed
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% for kk = 1:size(obj.obstacles, 1)
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% if obj.obstacles{kk}.containsLine(obj.agents{jj}.pos, obj.agents{ii}.pos)
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% A(ii, jj) = false;
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% end
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% end
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end
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end
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obj.adjacency = A & A';
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if any(obj.adjacency - obj.constraintAdjacencyMatrix < 0, 'all')
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warning("Eliminated network connections that were necessary");
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keyboard
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end
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end |