Package org.ptolemy.machineLearning.particleFilter

Class AbstractUnscentedKalmanFilter

    • Field Detail

      • sigmaPointOutput

        public TypedIOPort sigmaPointOutput
        The output port that outputs the sigma-points of distribution of state variable at each firing.

      • stateEstimate

        public TypedIOPort stateEstimate
        State estimate output. A record token with one field per state variable.

      • t

        public Parameter t
        The value of current time. This parameter is not visible in the expression screen except in expert mode. Its value initially is just 0.0, a double, but upon each firing, it is given a value equal to the current time as reported by the director.

      • priorCovariance

        public Parameter priorCovariance
        A matrix value used in initialization of sigma points.

      • priorMeanState

        public Parameter priorMeanState
        An array value used in initialization of state variables.

      • processNoiseCovariance

        public Parameter processNoiseCovariance
        a matrix value which determine process noise.

      • _upToDate

        protected boolean _upToDate
        Flag indicating whether the contained model is up to date.

      • _stateNames

        protected ArrayToken _stateNames
        Cached State variable names.

      • _inputRelations

        protected IORelation[] _inputRelations
        Array of input Relations.

      • _sigmaPointLabels

        protected java.lang.String[] _sigmaPointLabels
        Labels of sigma points, that contains state names and a weight label.

      • _sigmaPointTypes

        protected Type[] _sigmaPointTypes
        Types of each sigma point dimension.

      • _stateLabels

        protected java.lang.String[] _stateLabels
        Labels of states.

      • _stateTypes

        protected Type[] _stateTypes
        Types of each state dimension.

      • _Sigma

        protected double[][] _Sigma
        Measurement covariance matrix.

      • STATE_VARIABLE_NAMES

        protected static final java.lang.String STATE_VARIABLE_NAMES
        See Also:
        Constant Field Values

      • MEASUREMENT_NOISE

        protected static final java.lang.String MEASUREMENT_NOISE
        See Also:
        Constant Field Values

      • MEASUREMENT_POSTFIX

        protected static final java.lang.String MEASUREMENT_POSTFIX
        See Also:
        Constant Field Values

    • Constructor Detail

      • AbstractUnscentedKalmanFilter

        public AbstractUnscentedKalmanFilter​(Workspace workspace)
                              throws IllegalActionException,
                                     NameDuplicationException
        Construct a UKF 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.
        Throws:
        IllegalActionException - If the name has a period in it, or the director is not compatible with the specified container.
        NameDuplicationException - If the container already contains an entity with the specified name.