public class CovarianceStatePredictor extends TypedAtomicActor
This actor reads a single record(x, y, vx, vy, covariance) from the port current_state and an array of vector(acc_x, acc_y) from the port "control_inputs". Output is an array of states(x, y, vx, vy, covariance) whose length is prediction horizon. Output states are calculated using a state space model given by
X_{t+1} = f(X_t) = [P_{t+1}; V_{t+1}]
P_{t+1} = P_t + V_t + 0.5*Acc_t
V_{t+1} = V_t + Acc_t
C_{t+1} = A*C_t*AT
where X is the state vector(P: position, V: velocity), Acc is an acceleration input vector, C is the covariance matrix of X, and A is the jacobian of transition function f(X). If the length of control_inputs is shorter than prediction horizon, the last value of cotrol_inputs is used until the step of prediction horizon.
Entity.ContainedObjectsIterator| Modifier and Type | Field and Description |
|---|---|
TypedIOPort |
controlInput
control input for robots.
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TypedIOPort |
currentState
current state of robots.
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TypedIOPort |
predictedStates
predicted states of robots.
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PortParameter |
timeHorizon
The time-horizon which defines the number of steps of prediction.
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_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 |
|---|
CovarianceStatePredictor(CompositeEntity container,
java.lang.String name)
Construct the composite actor with a name and a container.
|
| Modifier and Type | Method and Description |
|---|---|
void |
attributeChanged(Attribute attribute)
React to a change in an attribute.
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void |
fire()
Do nothing.
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boolean |
prefire()
Return true.
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_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, 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, workspaceequals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, waitcreateReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortListisFireFunctional, isStrict, iterate, postfire, stop, stopFire, terminateaddInitializable, initialize, preinitialize, removeInitializable, wrapupdescription, getContainer, getDisplayName, getFullName, getName, getName, setNamegetDerivedLevel, getDerivedList, propagateValuepublic TypedIOPort controlInput
public TypedIOPort currentState
public TypedIOPort predictedStates
public PortParameter timeHorizon
public CovarianceStatePredictor(CompositeEntity container, java.lang.String name) throws NameDuplicationException, IllegalActionException
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
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.