public class ParticleMutualInformation extends TypedAtomicActor
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.
ParticleFilter,
com.cureos.numericsEntity.ContainedObjectsIterator| Modifier and Type | Field and 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.
|
_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 |
|---|
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.
|
| Modifier and Type | Method and 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().
|
_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, preinitialize, pruneDependencies, recordFiring, removeActorFiringListener, removeDependency, removeInitializable, setContainer, stop, stopFire, terminate_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, workspaceequals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, waitcreateReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortListisFireFunctional, isStrict, iterate, postfire, stop, stopFire, terminateaddInitializable, initialize, preinitialize, removeInitializabledescription, getContainer, getDisplayName, getFullName, getName, getName, setNamegetDerivedLevel, getDerivedList, propagateValuepublic TypedIOPort output
public TypedIOPort particles
public TypedIOPort locations
public TypedIOPort jacobianOfMutualInformation
public Parameter robotID
public ParticleMutualInformation(CompositeEntity container, java.lang.String name) throws IllegalActionException, NameDuplicationException
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 ParticleMutualInformation(Workspace workspace) throws IllegalActionException, NameDuplicationException
workspace - the workspace in which to construct the actor.IllegalActionException - If the actor cannot be contained
by the proposed container.NameDuplicationException - If the container already has an
actor with this name.public void attributeChanged(Attribute attribute) throws IllegalActionException
NamedObjattributeChanged in class NamedObjattribute - 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
AtomicActorfire in interface Executablefire in class AtomicActor<TypedIOPort>IllegalActionException - Not thrown in this base class.public boolean prefire()
throws IllegalActionException
AtomicActorprefire in interface Executableprefire in class AtomicActor<TypedIOPort>IllegalActionException - Not thrown in this base class.public void wrapup()
throws IllegalActionException
AtomicActorwrapup in interface Initializablewrapup in class AtomicActor<TypedIOPort>IllegalActionException - Not thrown in this base class.