Class Optimizer
- java.lang.Object
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- ptolemy.kernel.util.NamedObj
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- ptolemy.kernel.InstantiableNamedObj
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- ptolemy.kernel.Entity<T>
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- ptolemy.kernel.ComponentEntity<T>
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- ptolemy.actor.AtomicActor<TypedIOPort>
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- ptolemy.actor.TypedAtomicActor
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- org.ptolemy.machineLearning.particleFilter.Optimizer
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- All Implemented Interfaces:
java.lang.Cloneable
,Actor
,Executable
,FiringsRecordable
,Initializable
,TypedActor
,Changeable
,Debuggable
,DebugListener
,Derivable
,Instantiable
,ModelErrorHandler
,MoMLExportable
,Moveable
,Nameable
public class Optimizer extends TypedAtomicActor
Black-box optimizer that uses JCobyla as the solverPerforms mutual information-based optimization using
References[1] B. Charrow, V. Kumar, and N. Michael Approximate Representations for Multi-Robot Control Policies that Maximize Mutual Information, In Proc. Robotics: Science and Systems Conference (RSS), 2013.
- Since:
- Ptolemy II 10.0
- Version:
- $Id$
- Author:
- Ilge Akkaya
- See Also:
ParticleFilter
- Pt.AcceptedRating:
- Red (ilgea)
- Pt.ProposedRating:
- Red (ilgea)
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Nested Class Summary
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Nested classes/interfaces inherited from class ptolemy.kernel.Entity
Entity.ContainedObjectsIterator
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Field Summary
Fields Modifier and Type Field Description Parameter
covariance
The coveariance.PortParameter
locations
An Array of record tokens.TypedIOPort
output
Control Output.TypedIOPort
particles
Particles input that accepts an array of record tokens.Parameter
rhoBeg
The beginning of rho.Parameter
rhoEnd
The end of rho.Parameter
speedLimit
The speed limit.-
Fields inherited from class ptolemy.actor.TypedAtomicActor
_typesValid
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Fields inherited from class ptolemy.actor.AtomicActor
_actorFiringListeners, _initializables, _notifyingActorFiring, _stopRequested
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Fields inherited from class ptolemy.kernel.util.NamedObj
_changeListeners, _changeLock, _changeRequests, _debugging, _debugListeners, _deferChangeRequests, _elementName, _isPersistent, _verbose, _workspace, ATTRIBUTES, CLASSNAME, COMPLETE, CONTENTS, DEEP, FULLNAME, LINKS
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Fields inherited from interface ptolemy.actor.Executable
COMPLETED, NOT_READY, STOP_ITERATING
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Constructor Summary
Constructors Constructor Description Optimizer(CompositeEntity container, java.lang.String name)
Construct the composite actor with a name and a container.Optimizer(Workspace workspace)
Construct an Optimizer in the specified workspace with no container and an empty string as a name.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
attributeChanged(Attribute attribute)
React to a change in an attribute.void
fire()
Do nothing.boolean
postfire()
Return true, unless stop() has been called, in which case, return false.-
Methods inherited from class ptolemy.actor.TypedAtomicActor
_containedTypeConstraints, _customTypeConstraints, _defaultTypeConstraints, _fireAt, _fireAt, attributeTypeChanged, clone, clone, isBackwardTypeInferenceEnabled, newPort, typeConstraintList, typeConstraints
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Methods inherited from class ptolemy.actor.AtomicActor
_actorFiring, _actorFiring, _declareDelayDependency, addActorFiringListener, addInitializable, connectionsChanged, createReceivers, declareDelayDependency, getCausalityInterface, getDirector, getExecutiveDirector, getManager, initialize, inputPortList, isFireFunctional, isStrict, iterate, newReceiver, outputPortList, prefire, preinitialize, pruneDependencies, recordFiring, removeActorFiringListener, removeDependency, removeInitializable, setContainer, stop, stopFire, terminate, wrapup
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Methods inherited from class ptolemy.kernel.ComponentEntity
_adjustDeferrals, _checkContainer, _getContainedObject, _propagateExistence, getContainer, instantiate, isAtomic, isOpaque, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, propagateExistence, setName
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Methods inherited from class ptolemy.kernel.Entity
_addPort, _description, _exportMoMLContents, _removePort, _validateSettables, connectedPortList, connectedPorts, containedObjectsIterator, getAttribute, getPort, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts, setClassDefinition, uniqueName
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Methods inherited from class ptolemy.kernel.InstantiableNamedObj
_setParent, exportMoML, getChildren, getElementName, getParent, getPrototypeList, isClassDefinition, isWithinClassDefinition
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Methods inherited from class ptolemy.kernel.util.NamedObj
_addAttribute, _adjustOverride, _attachText, _cloneFixAttributeFields, _containedDecorators, _copyChangeRequestList, _debug, _debug, _debug, _debug, _debug, _executeChangeRequests, _getIndentPrefix, _isMoMLSuppressed, _markContentsDerived, _notifyHierarchyListenersAfterChange, _notifyHierarchyListenersBeforeChange, _propagateValue, _removeAttribute, _splitName, _stripNumericSuffix, addChangeListener, addDebugListener, addHierarchyListener, attributeDeleted, attributeList, attributeList, decorators, deepContains, depthInHierarchy, description, description, event, executeChangeRequests, exportMoML, exportMoML, exportMoML, exportMoML, exportMoMLPlain, getAttribute, getAttributes, getChangeListeners, getClassName, getDecoratorAttribute, getDecoratorAttributes, getDerivedLevel, getDerivedList, getDisplayName, getFullName, getModelErrorHandler, getName, getName, getSource, handleModelError, isDeferringChangeRequests, isOverridden, isPersistent, lazyContainedObjectsIterator, message, notifyOfNameChange, propagateValue, propagateValues, removeAttribute, removeChangeListener, removeDebugListener, removeHierarchyListener, requestChange, setClassName, setDeferringChangeRequests, setDerivedLevel, setDisplayName, setModelErrorHandler, setPersistent, setSource, sortContainedObjects, toplevel, toString, validateSettables, workspace
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Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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Methods inherited from interface ptolemy.actor.Actor
createReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortList
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Methods inherited from interface ptolemy.kernel.util.Derivable
getDerivedLevel, getDerivedList, propagateValue
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Methods inherited from interface ptolemy.actor.Executable
isFireFunctional, isStrict, iterate, prefire, stop, stopFire, terminate
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Methods inherited from interface ptolemy.actor.Initializable
addInitializable, initialize, preinitialize, removeInitializable, wrapup
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Methods inherited from interface ptolemy.kernel.util.Nameable
description, getContainer, getDisplayName, getFullName, getName, getName, setName
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Field Detail
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output
public TypedIOPort output
Control Output.
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particles
public TypedIOPort particles
Particles input that accepts an array of record tokens. One field of the record must be labeled as "weight". Other fields will be resolved to state variables.
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locations
public PortParameter locations
An Array of record tokens.
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covariance
public Parameter covariance
The coveariance.
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speedLimit
public Parameter speedLimit
The speed limit.
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rhoBeg
public Parameter rhoBeg
The beginning of rho.
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rhoEnd
public Parameter rhoEnd
The end of rho.
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Constructor Detail
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Optimizer
public Optimizer(Workspace workspace)
Construct an Optimizer in the specified workspace with no container and an empty string as a name. You can then change the name with setName(). If the workspace argument is null, then use the default workspace.- Parameters:
workspace
- The workspace that will list the actor.
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Optimizer
public Optimizer(CompositeEntity container, java.lang.String name) throws IllegalActionException, NameDuplicationException
Construct the composite actor with a name and a container. This constructor creates the ports, parameters, and the icon.- Parameters:
container
- The container.name
- The name.- Throws:
NameDuplicationException
- If another entity already had this name.IllegalActionException
- If there was an internal problem.
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Method Detail
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attributeChanged
public void attributeChanged(Attribute attribute) throws IllegalActionException
Description copied from class:NamedObj
React to a change in an attribute. This method is called by a contained attribute when its value changes. In this base class, the method does nothing. In derived classes, this method may throw an exception, indicating that the new attribute value is invalid. It is up to the caller to restore the attribute to a valid value if an exception is thrown.- Overrides:
attributeChanged
in classNamedObj
- Parameters:
attribute
- The attribute that changed.- Throws:
IllegalActionException
- If the change is not acceptable to this container (not thrown in this base class).
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fire
public void fire() throws IllegalActionException
Description copied from class:AtomicActor
Do nothing. Derived classes override this method to define their primary run-time action.- Specified by:
fire
in interfaceExecutable
- Overrides:
fire
in classAtomicActor<TypedIOPort>
- Throws:
IllegalActionException
- Not thrown in this base class.
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postfire
public boolean postfire() throws IllegalActionException
Description copied from class:AtomicActor
Return true, unless stop() has been called, in which case, return false. Derived classes override this method to define operations to be performed at the end of every iteration of its execution, after one invocation of the prefire() method and any number of invocations of the fire() method. This method typically wraps up an iteration, which may involve updating local state. In derived classes, this method returns false to indicate that this actor should not be fired again.- Specified by:
postfire
in interfaceExecutable
- Overrides:
postfire
in classAtomicActor<TypedIOPort>
- Returns:
- True if execution can continue into the next iteration.
- Throws:
IllegalActionException
- Not thrown in this base class.
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