Class MutualInformationCalculator
- 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.MutualInformationCalculator
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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 MutualInformationCalculator extends TypedAtomicActor
Black-box optimizer that uses JCobyla as the solverPerforms 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)
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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
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
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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 MutualInformationCalculator(CompositeEntity container, java.lang.String name)
Constructs a MutualInformationCalculator object.MutualInformationCalculator(Workspace workspace)
Constructs a MutualInformationCalculator object.
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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.-
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, postfire, 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, postfire, 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
The computed mutual information between particle sets.
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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 TypedIOPort locations
The locations of the pursue robots that are producing the particle estimate.
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covariance
public Parameter covariance
Measurement noise covariance.
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timeHorizon
public Parameter timeHorizon
Time horizon over which the mutual information will be calculated.
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optIndex
public Parameter optIndex
The index of the robot, over which the mutual information is being optimized.
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xValue
public TypedIOPort xValue
The control input that determines the update in robot position.
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Constructor Detail
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MutualInformationCalculator
public MutualInformationCalculator(CompositeEntity container, java.lang.String name) throws IllegalActionException, NameDuplicationException
Constructs a MutualInformationCalculator object.- Parameters:
container
- a CompositeEntity objectname
- entity name- Throws:
IllegalActionException
NameDuplicationException
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MutualInformationCalculator
public MutualInformationCalculator(Workspace workspace) throws IllegalActionException, NameDuplicationException
Constructs a MutualInformationCalculator object.- Parameters:
workspace
- The workspace- Throws:
IllegalActionException
NameDuplicationException
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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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