Package org.ptolemy.machineLearning.particleFilter

Class MutualInformationCalculator

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.MutualInformationCalculator

All Implemented Interfaces:

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

public class MutualInformationCalculator
extends TypedAtomicActor

Black-box optimizer that uses JCobyla as the solver

Performs mutual information-based optimization 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 10.0

Version:

$Id$

Author:

Ilge Akkaya, Shuhei Emoto

See Also:

ParticleFilter, com.cureos.numerics

Pt.AcceptedRating:

Pt.ProposedRating:

Red (ilgea)

Nested Class Summary

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

Entity.ContainedObjectsIterator

Field Summary

Fields

Modifier and Type	Field	Description
Parameter	covariance	Measurement noise covariance.
TypedIOPort	locations	The locations of the pursue robots that are producing the particle estimate.
Parameter	optIndex	The index of the robot, over which the mutual information is being optimized.
TypedIOPort	output	The computed mutual information between particle sets.
TypedIOPort	particles	Particles input that accepts an array of record tokens.
Parameter	timeHorizon	Time horizon over which the mutual information will be calculated.
TypedIOPort	xValue	The control input that determines the update in robot position.

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
MutualInformationCalculator(CompositeEntity container, java.lang.String name)	Constructs a MutualInformationCalculator object.
MutualInformationCalculator(Workspace workspace)	Constructs a MutualInformationCalculator object.

Method Summary

Modifier and Type	Method	Description
void	attributeChanged(Attribute attribute)	React to a change in an attribute.
void	fire()	Do nothing.

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, prefire, preinitialize, pruneDependencies, recordFiring, removeActorFiringListener, removeDependency, removeInitializable, setContainer, stop, stopFire, terminate, wrapup

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, prefire, stop, stopFire, terminate

Methods inherited from interface ptolemy.actor.Initializable

addInitializable, initialize, preinitialize, removeInitializable, wrapup

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.

covariance

public Parameter covariance

Measurement noise covariance.

timeHorizon

public Parameter timeHorizon

Time horizon over which the mutual information will be calculated.

optIndex

public Parameter optIndex

The index of the robot, over which the mutual information is being optimized.

xValue

public TypedIOPort xValue

The control input that determines the update in robot position.

Constructor Detail

MutualInformationCalculator

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

Constructs a MutualInformationCalculator object.

Parameters:

container - a CompositeEntity object

name - entity name

Throws:

IllegalActionException

NameDuplicationException

MutualInformationCalculator

public MutualInformationCalculator(Workspace workspace)
                            throws IllegalActionException,
                                   NameDuplicationException

Constructs a MutualInformationCalculator object.

Parameters:

workspace - The workspace

Throws:

IllegalActionException

NameDuplicationException

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.