public class Triangulator extends TypedAtomicActor
The input is a record with two fields named "location" and "time". The location field is an array of doubles, and the time is a double. In the current implementation, the actor assumes a two-dimensional space, so the location field is assumed to be an array with two doubles, which represent the horizontal (east-west) and vertical (north-south) location of the sensor. The time field is assumed to be a double representing the time at which the event was detected by the sensor.
The triangulation algorithm requires three distinct sensor inputs
for the same event in order to be able to calculate the location
of the origin of the event. Suppose that the event occurred at
time t and location x. Suppose that three sensors
at locations y1, y2, and y3 have each detected
events at times t1, t2, and t3, respectively.
Then this actor looks for a solution for x and t
in the following equations:
distance(x, y1)/v = t1 - t,
where v is the value of propagationSpeed.
If such a solution is found, then the output x is produced.
distance(x, y2)/v = t2 - t,
distance(x, y3)/v = t3 - t,
Since three distinct observations are required, this actor will produce no output until it has received three distinct observations. The observations are distinct if the sensor locations are distinct. If the three observations yield no solution, then this actor will produce no output. However, it is possible for the three observations to come from distinct events, in which case the output may be erroneous. To guard against this, this actor provides a timeWindow parameter. The times of the three observations must be within the value of timeWindow, or no output will be produced. The output is an array of doubles, which in this implementation represent the X and Y locations of the event.
| Red (ptolemy) |
| Yellow (eal) |
Entity.ContainedObjectsIterator| Modifier and Type | Field and Description |
|---|---|
TypedIOPort |
input
The input port for an event detection, which is a record
containing the location of a sensor that has detected the
event and the time at which the sensor detected the event.
|
TypedIOPort |
output
The output producing the calculated event location.
|
Parameter |
signalPropagationSpeed
Speed of propagation of the signal to be used for triangulation.
|
Parameter |
timeWindow
Time window within which observations are assumed to come from
the same sound event.
|
_typesValid_actorFiringListeners, _initializables, _notifyingActorFiring, _stopRequested_changeListeners, _changeLock, _changeRequests, _debugging, _debugListeners, _deferChangeRequests, _elementName, _isPersistent, _verbose, _workspace, ATTRIBUTES, CLASSNAME, COMPLETE, CONTENTS, DEEP, FULLNAME, LINKSCOMPLETED, NOT_READY, STOP_ITERATING| Constructor and Description |
|---|
Triangulator(CompositeEntity container,
java.lang.String name)
Construct an actor with the given container and name.
|
| Modifier and Type | Method and Description |
|---|---|
java.lang.Object |
clone(Workspace workspace)
Clone this actor into the specified workspace.
|
void |
fire()
Read all available input tokens and attempt to use them to triangulate
the signal source.
|
void |
initialize()
Override the base class to initialize the signal count.
|
_containedTypeConstraints, _customTypeConstraints, _defaultTypeConstraints, _fireAt, _fireAt, attributeTypeChanged, clone, isBackwardTypeInferenceEnabled, newPort, typeConstraintList, typeConstraints_actorFiring, _actorFiring, _declareDelayDependency, addActorFiringListener, addInitializable, connectionsChanged, createReceivers, declareDelayDependency, getCausalityInterface, getDirector, getExecutiveDirector, getManager, 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, attributeChanged, 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, workspaceequals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, waitcreateReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortListisFireFunctional, isStrict, iterate, postfire, prefire, stop, stopFire, terminateaddInitializable, preinitialize, removeInitializable, wrapupdescription, getContainer, getDisplayName, getFullName, getName, getName, setNamegetDerivedLevel, getDerivedList, propagateValuepublic TypedIOPort input
public TypedIOPort output
public Parameter signalPropagationSpeed
public Parameter timeWindow
public Triangulator(CompositeEntity container, java.lang.String name) throws NameDuplicationException, IllegalActionException
container - The container.name - The name of this actor.IllegalActionException - If the actor cannot be contained
by the proposed container.NameDuplicationException - If the container already has an
actor with this name.public java.lang.Object clone(Workspace workspace) throws java.lang.CloneNotSupportedException
clone in class TypedAtomicActorworkspace - The workspace for the cloned object.java.lang.CloneNotSupportedException - If cloned ports cannot have
as their container the cloned entity (this should not occur), or
if one of the attributes cannot be cloned.NamedObj.exportMoML(Writer, int, String),
NamedObj.setDeferringChangeRequests(boolean)public void fire()
throws IllegalActionException
fire in interface Executablefire in class AtomicActor<TypedIOPort>IllegalActionException - If there is no director,
or if the parameters cannot be evaluated.public void initialize()
throws IllegalActionException
initialize in interface Initializableinitialize in class AtomicActor<TypedIOPort>IllegalActionException - If the base class throws it.