126 lines
4.3 KiB
Matlab
126 lines
4.3 KiB
Matlab
classdef miSim
|
|
% multiagent interconnection simulation
|
|
|
|
% Simulation parameters
|
|
properties (SetAccess = private, GetAccess = public)
|
|
domain = rectangularPrism;
|
|
objective = sensingObjective;
|
|
obstacles = cell(0, 1); % geometries that define obstacles within the domain
|
|
agents = cell(0, 1); % agents that move within the domain
|
|
adjacency = NaN; % Adjacency matrix representing communications network graph
|
|
end
|
|
|
|
methods (Access = public)
|
|
function obj = initialize(obj, domain, objective, agents, obstacles)
|
|
arguments (Input)
|
|
obj (1, 1) {mustBeA(obj, 'miSim')};
|
|
domain (1, 1) {mustBeGeometry};
|
|
objective (1, 1) {mustBeA(objective, 'sensingObjective')};
|
|
agents (:, 1) cell {mustBeAgents};
|
|
obstacles (:, 1) cell {mustBeGeometry} = cell(0, 1);
|
|
end
|
|
arguments (Output)
|
|
obj (1, 1) {mustBeA(obj, 'miSim')};
|
|
end
|
|
|
|
%% Define domain
|
|
obj.domain = domain;
|
|
|
|
%% Add geometries representing obstacles within the domain
|
|
obj.obstacles = obstacles;
|
|
|
|
%% Define objective
|
|
obj.objective = objective;
|
|
|
|
%% Define agents
|
|
obj.agents = agents;
|
|
|
|
%% Compute adjacency matrix
|
|
obj = obj.updateAdjacency();
|
|
|
|
end
|
|
function obj = updateAdjacency(obj)
|
|
arguments (Input)
|
|
obj (1, 1) {mustBeA(obj, 'miSim')};
|
|
end
|
|
arguments (Output)
|
|
obj (1, 1) {mustBeA(obj, 'miSim')};
|
|
end
|
|
|
|
% Initialize assuming only self-connections
|
|
A = logical(eye(size(obj.agents, 1)));
|
|
|
|
% Check lower triangle off-diagonal connections
|
|
for ii = 2:size(A, 1)
|
|
for jj = 1:(ii - 1)
|
|
if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) <= min([obj.agents{ii}.comRange, obj.agents{jj}.comRange])
|
|
A(ii, jj) = true;
|
|
end
|
|
end
|
|
end
|
|
|
|
obj.adjacency = A;
|
|
end
|
|
function f = plotNetwork(obj, f)
|
|
arguments (Input)
|
|
obj (1, 1) {mustBeA(obj, 'miSim')};
|
|
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
|
|
end
|
|
arguments (Output)
|
|
f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
|
|
end
|
|
|
|
% Iterate over lower triangle off-diagonal region of the
|
|
% adjacency matrix to plot communications links between agents
|
|
X = []; Y = []; Z = [];
|
|
for ii = 2:size(obj.adjacency, 1)
|
|
for jj = 1:(ii - 1)
|
|
if obj.adjacency(ii, jj)
|
|
X = [X; obj.agents{ii}.pos(1), obj.agents{jj}.pos(1)];
|
|
Y = [Y; obj.agents{ii}.pos(2), obj.agents{jj}.pos(2)];
|
|
Z = [Z; obj.agents{ii}.pos(3), obj.agents{jj}.pos(3)];
|
|
end
|
|
end
|
|
end
|
|
X = X'; Y = Y'; Z = Z';
|
|
|
|
% Plot the connections
|
|
hold(f.CurrentAxes, "on");
|
|
o = plot3(X, Y, Z, 'Color', 'g', 'LineWidth', 1, 'LineStyle', '--');
|
|
hold(f.CurrentAxes, "off");
|
|
|
|
% Check if this is a tiled layout figure
|
|
if strcmp(f.Children(1).Type, 'tiledlayout')
|
|
% Add to other plots
|
|
copyobj(o, f.Children(1).Children(2));
|
|
copyobj(o, f.Children(1).Children(3));
|
|
copyobj(o, f.Children(1).Children(5));
|
|
end
|
|
end
|
|
end
|
|
|
|
methods (Access = private)
|
|
function validateInitialization(obj)
|
|
% Assert obstacles do not intersect with the domain
|
|
|
|
% Assert obstacles do not intersect with each other
|
|
|
|
% Assert the objective has only one maxima within the domain
|
|
|
|
% Assert the objective's sole maximum is not inaccessible due
|
|
% to the placement of an obstacle
|
|
|
|
end
|
|
function validateLoop(obj)
|
|
% Assert that agents are safely inside the domain
|
|
|
|
% Assert that agents are not in proximity to obstacles
|
|
|
|
% Assert that agents are not in proximity to each other
|
|
|
|
% Assert that agents form a connected graph
|
|
|
|
|
|
end
|
|
end
|
|
end |