public class Optimizer extends TypedAtomicActor
Performs mutual information-based optimization using
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
Entity.ContainedObjectsIterator
Modifier and Type | Field and Description |
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Parameter |
covariance
The coveariance.
|
PortParameter |
locations
An Array of record tokens.
|
TypedIOPort |
output
Control Output.
|
TypedIOPort |
particles
Particles input that accepts an array of record tokens.
|
Parameter |
rhoBeg
The beginning of rho.
|
Parameter |
rhoEnd
The end of rho.
|
Parameter |
speedLimit
The speed limit.
|
_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 |
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Optimizer(CompositeEntity container,
java.lang.String name)
Construct the composite actor with a name and a container.
|
Optimizer(Workspace workspace)
Construct an Optimizer in the specified
workspace with no container and an empty string as a name.
|
Modifier and Type | Method and Description |
---|---|
void |
attributeChanged(Attribute attribute)
React to a change in an attribute.
|
void |
fire()
Do nothing.
|
boolean |
postfire()
Return true, unless stop() has been called, in which case,
return false.
|
_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, 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, 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 PortParameter locations
public Parameter covariance
public Parameter speedLimit
public Parameter rhoBeg
public Parameter rhoEnd
public Optimizer(Workspace workspace)
workspace
- The workspace that will list the actor.public Optimizer(CompositeEntity container, java.lang.String name) throws IllegalActionException, NameDuplicationException
container
- The container.name
- The name.NameDuplicationException
- If another entity already had
this name.IllegalActionException
- If there was an internal problem.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.public boolean postfire() throws IllegalActionException
AtomicActor
postfire
in interface Executable
postfire
in class AtomicActor<TypedIOPort>
IllegalActionException
- Not thrown in this base class.