org.ptolemy.ssm

Class UnscentedKalmanFilterSSM

java.lang.Object

ptolemy.kernel.util.NamedObj

ptolemy.kernel.InstantiableNamedObj

ptolemy.kernel.Entity<T>

ptolemy.kernel.ComponentEntity

ptolemy.kernel.CompositeEntity

ptolemy.actor.CompositeActor

ptolemy.actor.TypedCompositeActor

org.ptolemy.machineLearning.particleFilter.AbstractUnscentedKalmanFilter

org.ptolemy.ssm.UnscentedKalmanFilterSSM

All Implemented Interfaces:

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

public class UnscentedKalmanFilterSSM
extends AbstractUnscentedKalmanFilter
implements InferenceActor

An Unscented Kalman filter implementation that expects a state-space model and several measurements to be tied with itself via decorators.

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 org.ptolemy.machineLearning.particleFilter.AbstractUnscentedKalmanFilter

AbstractUnscentedKalmanFilter.InputType

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

CompositeEntity.ContainedObjectsIterator

Field Summary

Fields inherited from class org.ptolemy.machineLearning.particleFilter.AbstractUnscentedKalmanFilter

_inputRelations, _Sigma, _sigmaPointLabels, _sigmaPointTypes, _stateLabels, _stateNames, _stateTypes, _upToDate, MEASUREMENT_NOISE, MEASUREMENT_POSTFIX, priorCovariance, priorMeanState, processNoiseCovariance, sigmaPointOutput, STATE_VARIABLE_NAMES, stateEstimate, t, UPDATE_POSTFIX

Fields inherited from class ptolemy.actor.CompositeActor

_actorFiringListeners, _causalityInterface, _derivedPiggybacks, _initializables, _notifyingActorFiring, _piggybacks, _publishedPorts, _publisherRelations, _stopRequested, _subscribedPorts

Fields inherited from class ptolemy.kernel.CompositeEntity

_levelCrossingLinks

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
UnscentedKalmanFilterSSM(CompositeEntity container, java.lang.String name) Instantiate an unscented Kalman filter.
UnscentedKalmanFilterSSM(Workspace workspace) Instantiate an unscented Kalman filter.

Method Summary

Modifier and Type	Method and Description
protected void	_checkParameters() Check the dimensions of all parameters and ports.
protected AbstractUnscentedKalmanFilter.InputType	getInputType(java.lang.String inputName)
protected Parameter	getMeasurementParameter(java.lang.String fullName) Return the first encountered value for now.
protected Parameter	getNoiseParameter(java.lang.String fullName)
protected Parameter	getUserDefinedParameter(java.lang.String eqnName) Return the Parameter that is part of a state space model.
boolean	validDecoratorAssociationExists() Check if the Actor is associated with a unique enabled StateSpaceModel.

Methods inherited from class org.ptolemy.machineLearning.particleFilter.AbstractUnscentedKalmanFilter

attributeChanged, fire, getMeasurementParameterExpression, getUserDefinedParameterExpression, preinitialize, wrapup

Methods inherited from class ptolemy.actor.TypedCompositeActor

_addEntity, _addPort, _addRelation, _checkTypesFromTo, _destinationTypeConstraints, attributeTypeChanged, isBackwardTypeInferenceEnabled, newPort, newRelation, resolveTypes, typeConstraintList, typeConstraints

Methods inherited from class ptolemy.actor.CompositeActor

_actorFiring, _actorFiring, _finishedAddEntity, _setDirector, _transferPortParameterInputs, addActorFiringListener, addInitializable, addPiggyback, clone, connectionsChanged, createReceivers, createSchedule, getCausalityInterface, getDirector, getExecutiveDirector, getManager, getPublishedPort, getPublishedPortChannel, getPublishedPorts, getSubscribedPortChannel, inferringWidths, inferWidths, initialize, inputPortList, isFireFunctional, isOpaque, isPublishedPort, isStrict, iterate, linkToPublishedPort, linkToPublishedPort, linkToPublishedPort, linkToPublishedPort, needsWidthInference, newInsideReceiver, newReceiver, notifyConnectivityChange, outputPortList, postfire, prefire, recordFiring, registerPublisherPort, registerPublisherPort, removeActorFiringListener, removeInitializable, removePiggyback, requestChange, setContainer, setDirector, setManager, stop, stopFire, terminate, unlinkToPublishedPort, unlinkToPublishedPort, unlinkToPublishedPort, unlinkToPublishedPort, unregisterPublisherPort, unregisterPublisherPort

Methods inherited from class ptolemy.kernel.CompositeEntity

_adjustDeferrals, _containedDecorators, _deepOpaqueEntityList, _description, _exportMoMLContents, _removeEntity, _removeRelation, _validateSettables, allAtomicEntityList, allowLevelCrossingConnect, classDefinitionList, connect, connect, containedObjectsIterator, deepCompositeEntityList, deepEntityList, deepGetEntities, deepNamedObjList, deepOpaqueEntityList, deepRelationSet, entityList, entityList, exportLinks, exportMoML, getAttribute, getEntities, getEntity, getPort, getRelation, getRelations, isAtomic, lazyAllAtomicEntityList, lazyAllCompositeEntityList, lazyAllCompositeTransparentAndOpaqueEntityList, lazyClassDefinitionList, lazyDeepEntityList, lazyEntityList, lazyRelationList, numberOfEntities, numberOfRelations, numEntities, numRelations, relationList, removeAllEntities, removeAllRelations, setClassDefinition, statistics, uniqueName

Methods inherited from class ptolemy.kernel.ComponentEntity

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

Methods inherited from class ptolemy.kernel.Entity

_removePort, connectedPortList, connectedPorts, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts

Methods inherited from class ptolemy.kernel.InstantiableNamedObj

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

Methods inherited from class ptolemy.kernel.util.NamedObj

_addAttribute, _adjustOverride, _attachText, _cloneFixAttributeFields, _copyChangeRequestList, _debug, _debug, _debug, _debug, _debug, _executeChangeRequests, _getIndentPrefix, _isMoMLSuppressed, _markContentsDerived, _notifyHierarchyListenersAfterChange, _notifyHierarchyListenersBeforeChange, _propagateValue, _removeAttribute, _splitName, _stripNumericSuffix, addChangeListener, addDebugListener, addHierarchyListener, attributeDeleted, attributeList, attributeList, clone, 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, 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

fire, isFireFunctional, isStrict, iterate, postfire, prefire, 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

Constructor Detail

UnscentedKalmanFilterSSM

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

Instantiate an unscented Kalman filter.

Parameters:

container - The container

name - The name

Throws:

IllegalActionException - If the actor cannot be contained by the proposed container.

NameDuplicationException - If the container already has an actor with this name.

UnscentedKalmanFilterSSM

public UnscentedKalmanFilterSSM(Workspace workspace)
                         throws NameDuplicationException,
                                IllegalActionException

Instantiate an unscented Kalman filter.

Parameters:

workspace - The workspace in which to instantiate actor.

Throws:

IllegalActionException - If the actor cannot be contained by the proposed container.

NameDuplicationException - If the container already has an actor with this name.

Method Detail

_checkParameters

protected void _checkParameters()
                         throws IllegalActionException

Check the dimensions of all parameters and ports.

Specified by:

_checkParameters in class AbstractUnscentedKalmanFilter

Throws:

IllegalActionException - If the dimensions are illegal.

validDecoratorAssociationExists

public boolean validDecoratorAssociationExists()
                                        throws IllegalActionException

Check if the Actor is associated with a unique enabled StateSpaceModel. Ideally, here, we would also be checking whether the enabled decorator provides the parameters expected by the actor.

Specified by:

validDecoratorAssociationExists in interface StateSpaceActor

Returns:

true if a valid decorator association exists.

Throws:

IllegalActionException

getUserDefinedParameter

protected Parameter getUserDefinedParameter(java.lang.String eqnName)
                                     throws IllegalActionException

Description copied from class: AbstractUnscentedKalmanFilter

Return the Parameter that is part of a state space model.

Specified by:

getUserDefinedParameter in class AbstractUnscentedKalmanFilter

Parameters:

eqnName - Name of parameter

Returns:

Parameter object

Throws:

IllegalActionException

getMeasurementParameter

protected Parameter getMeasurementParameter(java.lang.String fullName)
                                     throws IllegalActionException

Return the first encountered value for now.

Specified by:

getMeasurementParameter in class AbstractUnscentedKalmanFilter

Parameters:

fullName - The name of the measurement parameter.

Returns:

The parameter

Throws:

IllegalActionException - If the attribute cannot be found.

getInputType

protected AbstractUnscentedKalmanFilter.InputType getInputType(java.lang.String inputName)

Specified by:

getInputType in class AbstractUnscentedKalmanFilter

getNoiseParameter

protected Parameter getNoiseParameter(java.lang.String fullName)
                               throws IllegalActionException

Specified by:

getNoiseParameter in class AbstractUnscentedKalmanFilter

Throws:

IllegalActionException