33 lines
1.8 KiB
Matlab
33 lines
1.8 KiB
Matlab
function writeInits(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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end
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% Collect agent parameters
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collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
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alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
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betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
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alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
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betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
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comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
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initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
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pos = cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false));
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% Combine with simulation parameters
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inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), ...
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"discretizationStep", obj.domain.objective.discretizationStep, "protectedRange", obj.domain.objective.protectedRange, ...
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"sensorPerformanceMinimum", obj.domain.objective.sensorPerformanceMinimum, "initialStepSize", initialStepSize, ...
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"barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", size(obj.obstacles, 1), ...
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"numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, "alphaDist", alphaDist, ...
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"betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
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... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
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"pos", pos);
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% Save all parameters to output file
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initsFile = strcat(obj.artifactName, "_miSimInits");
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initsFile = fullfile(matlab.project.rootProject().RootFolder, "sandbox", initsFile);
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save(initsFile, "-struct", "inits");
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end |