org.ptolemy.optimization

Class PositionConstraintCalculator

java.lang.Object

ptolemy.kernel.util.NamedObj

ptolemy.kernel.InstantiableNamedObj

ptolemy.kernel.Entity<T>

ptolemy.kernel.ComponentEntity<T>

ptolemy.actor.AtomicActor<TypedIOPort>

ptolemy.actor.TypedAtomicActor

org.ptolemy.optimization.PositionConstraintCalculator

All Implemented Interfaces:

java.lang.Cloneable, Actor, Executable, FiringsRecordable, Initializable, TypedActor, Changeable, Debuggable, DebugListener, Derivable, Instantiable, ModelErrorHandler, MoMLExportable, Moveable, Nameable

public class PositionConstraintCalculator
extends TypedAtomicActor

The class for calculation of constraints of Swarm-Robots. This class computes following constraint functions used in an optimization class. The number of functions is N X H, where N is the number of reference trajectories and H is prediction time horizon. N and H are obtained from the length of "referenceTrajectories" and "trajectory", respectively. The output array consists of {f0_0, f0_1, ... , f0_t, f1_0, ... , f1_t, ... ,fi_t}. If i is "robotID", constraint functions is fi_t = - (Px_t - Pi_t) * CovP^-1 * (Px_t - Pi_t) + 1.0 > 0, where Px_t is a position of robot at time t obtained from "trajectory", Pi_t is a position of the robot predicted in previous control step obtained from "referenceTrajectories", and CovP is the covariance of Pi at time t. If i is not "robotID", constraint functions is fi_t = g(Pi) - sqrt(CovR) = |Px_t - Pi_t|^2 - D^2 - sqrt(CovR) > 0, CovR = (dg/dPi) * CovPi * (dg/dPi)T, where D is "DistanceLimit" parameter and Pi_t is a position of other robot or obstacle obtained from "referenceTrajectories". This class outputs not only the results of constraints function, but also gradients of fi_t.

Since:

Ptolemy II 11.0

Version:

$Id$

Author:

Shuhei Emoto

Pt.AcceptedRating:

Pt.ProposedRating:

Red (shuhei)

Nested Class Summary

Nested classes/interfaces inherited from class ptolemy.kernel.Entity

Entity.ContainedObjectsIterator

Field Summary

Fields

Modifier and Type	Field and Description
Parameter	DistanceLimit
TypedIOPort	gradientOfConstraints
TypedIOPort	jacobianOfTrajectory
TypedIOPort	positionConstraints
TypedIOPort	referenceTrajectories
Parameter	RobotId
Parameter	ScalefactorOfVariance
TypedIOPort	trajectory

Fields inherited from class ptolemy.actor.TypedAtomicActor

_typesValid

Fields inherited from class ptolemy.actor.AtomicActor

_actorFiringListeners, _initializables, _notifyingActorFiring, _stopRequested

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

Fields inherited from interface ptolemy.actor.Executable

COMPLETED, NOT_READY, STOP_ITERATING

Constructor Summary

Constructors

Constructor and Description
PositionConstraintCalculator(CompositeEntity container, java.lang.String name)

Method Summary

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.

Methods inherited from class ptolemy.actor.TypedAtomicActor

_containedTypeConstraints, _customTypeConstraints, _defaultTypeConstraints, _fireAt, _fireAt, attributeTypeChanged, clone, clone, isBackwardTypeInferenceEnabled, newPort, typeConstraintList, typeConstraints

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, wrapup

Methods inherited from class ptolemy.kernel.ComponentEntity

_adjustDeferrals, _checkContainer, _getContainedObject, _propagateExistence, getContainer, instantiate, isAtomic, isOpaque, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, propagateExistence, setName

Methods inherited from class ptolemy.kernel.Entity

_addPort, _description, _exportMoMLContents, _removePort, _validateSettables, connectedPortList, connectedPorts, containedObjectsIterator, getAttribute, getPort, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts, setClassDefinition, uniqueName

Methods inherited from class ptolemy.kernel.InstantiableNamedObj

_setParent, exportMoML, getChildren, getElementName, getParent, getPrototypeList, isClassDefinition, isWithinClassDefinition

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

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface ptolemy.actor.Actor

createReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortList

Methods inherited from interface ptolemy.actor.Executable

isFireFunctional, isStrict, iterate, postfire, stop, stopFire, terminate

Methods inherited from interface ptolemy.actor.Initializable

addInitializable, initialize, preinitialize, removeInitializable, wrapup

Methods inherited from interface ptolemy.kernel.util.Nameable

description, getContainer, getDisplayName, getFullName, getName, getName, setName

Methods inherited from interface ptolemy.kernel.util.Derivable

getDerivedLevel, getDerivedList, propagateValue

Field Detail

referenceTrajectories

public TypedIOPort referenceTrajectories

trajectory

public TypedIOPort trajectory

positionConstraints

public TypedIOPort positionConstraints

gradientOfConstraints

public TypedIOPort gradientOfConstraints

jacobianOfTrajectory

public TypedIOPort jacobianOfTrajectory

DistanceLimit

public Parameter DistanceLimit

ScalefactorOfVariance

public Parameter ScalefactorOfVariance

RobotId

public Parameter RobotId

Constructor Detail

PositionConstraintCalculator

public PositionConstraintCalculator(CompositeEntity container,
                                    java.lang.String name)
                             throws IllegalActionException,
                                    NameDuplicationException

Throws:

IllegalActionException

NameDuplicationException

Method Detail

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 class NamedObj

Parameters:

attribute - The attribute that changed.

Throws:

IllegalActionException - If the change is not acceptable to this container (not thrown in this base class).

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 interface Executable

Overrides:

fire in class AtomicActor<TypedIOPort>

Throws:

IllegalActionException - Not thrown in this base class.

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 interface Executable

Overrides:

prefire in class AtomicActor<TypedIOPort>

Returns:

True if this actor is ready for firing, false otherwise.

Throws:

IllegalActionException - Not thrown in this base class.