41 lines
1.1 KiB
Matlab
41 lines
1.1 KiB
Matlab
function obj = initialize(obj, domain, objective, agents, timestep, partitoningFreq, maxIter, obstacles)
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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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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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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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% Define simulation time parameters
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obj.timestep = timestep;
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obj.maxIter = maxIter;
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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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% 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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% Compute adjacency matrix
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obj = obj.updateAdjacency();
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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 |