Package org.ptolemy.machineLearning.particleFilter

Class ParticleMutualInformation

java.lang.Object

ptolemy.kernel.util.NamedObj

ptolemy.kernel.InstantiableNamedObj

ptolemy.kernel.Entity<T>

ptolemy.kernel.ComponentEntity<T>

ptolemy.actor.AtomicActor<TypedIOPort>

ptolemy.actor.TypedAtomicActor

org.ptolemy.machineLearning.particleFilter.ParticleMutualInformation

All Implemented Interfaces:

java.lang.Cloneable, Actor, Executable, FiringsRecordable, Initializable, TypedActor, Changeable, Debuggable, DebugListener, Derivable, Instantiable, ModelErrorHandler, MoMLExportable, Moveable, Nameable

public class ParticleMutualInformation
extends TypedAtomicActor

Calculate mutual information.

This class calculates mutual information between the inference represented by particles and the observation using a zeroth-order Gaussian approximation to the entropy expression that is approximated over a subset of particles. See references for further details on the theory. 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 11.0

Version:

$Id$

Author:

Shuhei Emoto

See Also:

ParticleFilter, com.cureos.numerics

Pt.AcceptedRating:

Red (cxh)

Pt.ProposedRating:

Red (shuhei)

Nested Class Summary

Nested classes/interfaces inherited from class ptolemy.kernel.Entity

Entity.ContainedObjectsIterator

Field Summary

Fields

Modifier and Type	Field	Description
TypedIOPort	jacobianOfMutualInformation	Jacobian of the mutual information.
TypedIOPort	locations	The locations of the pursue robots that are producing the particle estimate.
TypedIOPort	output	The computed mutual information between particle sets.
TypedIOPort	particles	Particles input that accepts an array of record tokens.
Parameter	robotID	Index of the robot which is optimizing location.

Fields inherited from class ptolemy.actor.TypedAtomicActor

_typesValid

Fields inherited from class ptolemy.actor.AtomicActor

_actorFiringListeners, _initializables, _notifyingActorFiring, _stopRequested

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

Fields inherited from interface ptolemy.actor.Executable

COMPLETED, NOT_READY, STOP_ITERATING

Constructor Summary

Constructors

Constructor	Description
ParticleMutualInformation(CompositeEntity container, java.lang.String name)	Construct an actor with the given container and name.
ParticleMutualInformation(Workspace workspace)	Construct an actor in the given workspace.

Method Summary

Modifier and Type	Method	Description
void	attributeChanged(Attribute attribute)	React to a change in an attribute.
void	fire()	Do nothing.
boolean	prefire()	Return true.
void	wrapup()	Do nothing except invoke the wrapup() methods of any objects that have been registered with addInitializable().

Methods inherited from class ptolemy.actor.TypedAtomicActor

_containedTypeConstraints, _customTypeConstraints, _defaultTypeConstraints, _fireAt, _fireAt, attributeTypeChanged, clone, clone, isBackwardTypeInferenceEnabled, newPort, typeConstraintList, typeConstraints

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, postfire, preinitialize, pruneDependencies, recordFiring, removeActorFiringListener, removeDependency, removeInitializable, setContainer, stop, stopFire, terminate

Methods inherited from class ptolemy.kernel.ComponentEntity

_adjustDeferrals, _checkContainer, _getContainedObject, _propagateExistence, getContainer, instantiate, isAtomic, isOpaque, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, propagateExistence, setName

Methods inherited from class ptolemy.kernel.Entity

_addPort, _description, _exportMoMLContents, _removePort, _validateSettables, connectedPortList, connectedPorts, containedObjectsIterator, getAttribute, getPort, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts, setClassDefinition, uniqueName

Methods inherited from class ptolemy.kernel.InstantiableNamedObj

_setParent, exportMoML, getChildren, getElementName, getParent, getPrototypeList, isClassDefinition, isWithinClassDefinition

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

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface ptolemy.actor.Actor

createReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortList

Methods inherited from interface ptolemy.kernel.util.Derivable

getDerivedLevel, getDerivedList, propagateValue

Methods inherited from interface ptolemy.actor.Executable

isFireFunctional, isStrict, iterate, postfire, stop, stopFire, terminate

Methods inherited from interface ptolemy.actor.Initializable

addInitializable, initialize, preinitialize, removeInitializable

Methods inherited from interface ptolemy.kernel.util.Nameable

description, getContainer, getDisplayName, getFullName, getName, getName, setName

Field Detail

output

public TypedIOPort output

The computed mutual information between particle sets.

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.

locations

public TypedIOPort locations

The locations of the pursue robots that are producing the particle estimate.

jacobianOfMutualInformation

public TypedIOPort jacobianOfMutualInformation

Jacobian of the mutual information.

robotID

public Parameter robotID

Index of the robot which is optimizing location. Jacobian of mutual information will be dMI/dRob_i, where Rob_i is the location of robotID. If robotID < 0, Jacobian will be dMI/dRob_all.

Constructor Detail

ParticleMutualInformation

public ParticleMutualInformation(CompositeEntity container,
                                 java.lang.String name)
                          throws IllegalActionException,
                                 NameDuplicationException

Construct an actor with the given container and name.

Parameters:

container - The container.

name - The name of this actor.

Throws:

IllegalActionException - If the actor cannot be contained by the proposed container.

NameDuplicationException - If the container already has an actor with this name.

ParticleMutualInformation

public ParticleMutualInformation(Workspace workspace)
                          throws IllegalActionException,
                                 NameDuplicationException

Construct an actor in the given workspace.

Parameters:

workspace - the workspace in which to construct the actor.

Throws:

IllegalActionException - If the actor cannot be contained by the proposed container.

NameDuplicationException - If the container already has an actor with this name.

Method Detail

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 class NamedObj

Parameters:

attribute - The attribute that changed.

Throws:

IllegalActionException - If the change is not acceptable to this container (not thrown in this base class).

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 interface Executable

Overrides:

fire in class AtomicActor<TypedIOPort>

Throws:

IllegalActionException - Not thrown in this base class.

prefire

public boolean prefire()
                throws IllegalActionException

Description copied from class: AtomicActor

Return true. Derived classes override this method to define operations to be performed at the beginning of every iteration of its execution, prior the invocation of the fire() method. Derived classes may also use it to check preconditions for an iteration, if there are any.

Specified by:

prefire in interface Executable

Overrides:

prefire in class AtomicActor<TypedIOPort>

Returns:

True if this actor is ready for firing, false otherwise.

Throws:

IllegalActionException - Not thrown in this base class.

wrapup

public void wrapup()
            throws IllegalActionException

Description copied from class: AtomicActor

Do nothing except invoke the wrapup() methods of any objects that have been registered with addInitializable(). Derived classes override this method to define operations to be performed exactly once at the end of a complete execution of an application. It typically closes files, displays final results, etc.

Specified by:

wrapup in interface Initializable

Overrides:

wrapup in class AtomicActor<TypedIOPort>

Throws:

IllegalActionException - Not thrown in this base class.