public class MutualInformationCalculator extends TypedAtomicActor
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.
ParticleFilter
,
com.cureos.numerics
Red (ilgea) |
Entity.ContainedObjectsIterator
Modifier and Type | Field and 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.
|
_typesValid
_actorFiringListeners, _initializables, _notifyingActorFiring, _stopRequested
_changeListeners, _changeLock, _changeRequests, _debugging, _debugListeners, _deferChangeRequests, _elementName, _isPersistent, _verbose, _workspace, ATTRIBUTES, CLASSNAME, COMPLETE, CONTENTS, DEEP, FULLNAME, LINKS
COMPLETED, NOT_READY, STOP_ITERATING
Constructor and Description |
---|
MutualInformationCalculator(CompositeEntity container,
java.lang.String name)
Constructs a MutualInformationCalculator object.
|
MutualInformationCalculator(Workspace workspace)
Constructs a MutualInformationCalculator object.
|
Modifier and Type | Method and Description |
---|---|
void |
attributeChanged(Attribute attribute)
React to a change in an attribute.
|
void |
fire()
Do nothing.
|
_containedTypeConstraints, _customTypeConstraints, _defaultTypeConstraints, _fireAt, _fireAt, attributeTypeChanged, clone, clone, isBackwardTypeInferenceEnabled, newPort, typeConstraintList, typeConstraints
_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
_adjustDeferrals, _checkContainer, _getContainedObject, _propagateExistence, getContainer, instantiate, isAtomic, isOpaque, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, propagateExistence, setName
_addPort, _description, _exportMoMLContents, _removePort, _validateSettables, connectedPortList, connectedPorts, containedObjectsIterator, getAttribute, getPort, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts, setClassDefinition, uniqueName
_setParent, exportMoML, getChildren, getElementName, getParent, getPrototypeList, isClassDefinition, isWithinClassDefinition
_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
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
createReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortList
isFireFunctional, isStrict, iterate, postfire, prefire, stop, stopFire, terminate
addInitializable, initialize, preinitialize, removeInitializable, wrapup
description, getContainer, getDisplayName, getFullName, getName, getName, setName
getDerivedLevel, getDerivedList, propagateValue
public TypedIOPort output
public TypedIOPort particles
public TypedIOPort locations
public Parameter covariance
public Parameter timeHorizon
public Parameter optIndex
public TypedIOPort xValue
public MutualInformationCalculator(CompositeEntity container, java.lang.String name) throws IllegalActionException, NameDuplicationException
container
- a CompositeEntity objectname
- entity nameIllegalActionException
NameDuplicationException
public MutualInformationCalculator(Workspace workspace) throws IllegalActionException, NameDuplicationException
workspace
- The workspaceIllegalActionException
NameDuplicationException
public void attributeChanged(Attribute attribute) throws IllegalActionException
NamedObj
attributeChanged
in class NamedObj
attribute
- The attribute that changed.IllegalActionException
- If the change is not acceptable
to this container (not thrown in this base class).public void fire() throws IllegalActionException
AtomicActor
fire
in interface Executable
fire
in class AtomicActor<TypedIOPort>
IllegalActionException
- Not thrown in this base class.