Class ParticleMutualInformation
- 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.ParticleMutualInformation
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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 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)
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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 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
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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 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.
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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
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
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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, preinitialize, pruneDependencies, recordFiring, removeActorFiringListener, removeDependency, removeInitializable, setContainer, stop, stopFire, terminate
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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, stop, stopFire, terminate
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Methods inherited from interface ptolemy.actor.Initializable
addInitializable, initialize, preinitialize, removeInitializable
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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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jacobianOfMutualInformation
public TypedIOPort jacobianOfMutualInformation
Jacobian of the mutual information.
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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.
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Constructor Detail
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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.
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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.
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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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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 interfaceExecutable
- Overrides:
prefire
in classAtomicActor<TypedIOPort>
- Returns:
- True if this actor is ready for firing, false otherwise.
- Throws:
IllegalActionException
- Not thrown in this base class.
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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 interfaceInitializable
- Overrides:
wrapup
in classAtomicActor<TypedIOPort>
- Throws:
IllegalActionException
- Not thrown in this base class.
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