73 lines
2.4 KiB
Matlab
73 lines
2.4 KiB
Matlab
classdef agent
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properties (SetAccess = private, GetAccess = public)
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% Identifiers
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index = NaN;
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label = "";
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% Sensor
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sensingFunction = @(r) 0.5; % probability of detection as a function of range
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% State
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pos = NaN(1, 3);
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vel = NaN(1, 3);
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cBfromC = NaN(3); % DCM body from sim cartesian (assume fixed for now)
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% Collision
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collisionGeometry;
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% Communication
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comRange = NaN;
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end
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methods (Access = public)
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function obj = initialize(obj, pos, vel, cBfromC, collisionGeometry, sensingFunction, comRange, index, label)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'agent')};
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pos (1, 3) double;
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vel (1, 3) double;
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cBfromC (3, 3) double {mustBeDcm};
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collisionGeometry (1, 1) {mustBeGeometry};
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sensingFunction (1, 1) {mustBeA(sensingFunction, 'function_handle')}
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comRange (1, 1) double = NaN;
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index (1, 1) double = NaN;
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label (1, 1) string = "";
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end
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arguments (Output)
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obj (1, 1) {mustBeA(obj, 'agent')};
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end
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obj.pos = pos;
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obj.vel = vel;
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obj.cBfromC = cBfromC;
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obj.collisionGeometry = collisionGeometry;
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obj.comRange = comRange;
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obj.index = index;
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obj.label = label;
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end
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function f = plot(obj, f)
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arguments (Input)
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obj (1, 1) {mustBeA(obj, 'agent')};
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f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
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end
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arguments (Output)
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f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
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end
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% Create axes if they don't already exist
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f = firstPlotSetup(f);
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% Plot points representing the agent position
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hold(f.CurrentAxes, "on");
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o = scatter3(obj.pos(1), obj.pos(2), obj.pos(3), 'filled', 'ko', 'SizeData', 25);
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hold(f.CurrentAxes, "off");
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% Check if this is a tiled layout figure
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if strcmp(f.Children(1).Type, 'tiledlayout')
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% Add to other perspectives
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copyobj(o, f.Children(1).Children(2));
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copyobj(o, f.Children(1).Children(3));
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copyobj(o, f.Children(1).Children(5));
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end
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end
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end
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end |