Class ParticleFilterRange
- java.lang.Object
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- ptolemy.kernel.util.NamedObj
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- ptolemy.kernel.InstantiableNamedObj
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- ptolemy.kernel.Entity<T>
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- ptolemy.kernel.ComponentEntity
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- ptolemy.kernel.CompositeEntity
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- ptolemy.actor.CompositeActor
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- ptolemy.actor.TypedCompositeActor
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- org.ptolemy.machineLearning.particleFilter.AbstractParticleFilter
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- org.ptolemy.machineLearning.particleFilter.ParticleFilter
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- org.ptolemy.machineLearning.particleFilter.ParticleFilterRange
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- All Implemented Interfaces:
java.lang.Cloneable
,MapConstrained
,Actor
,Executable
,FiringsRecordable
,Initializable
,TypedActor
,Changeable
,Debuggable
,DebugListener
,Derivable
,Instantiable
,ModelErrorHandler
,MoMLExportable
,Moveable
,Nameable
public class ParticleFilterRange extends ParticleFilter
A Particle Filter Implementation for Range-only measurement models.The particle filter runs on a state space model given by
X_{t+1} = f(X_t, U_t, t) Y_{t} = g(X_t, U_t, t) X(0) = X0
where X is the state vector, U is the input vector, Y is the observation vector, and t is the model time. To use this actor :- For each input in U, create an input port with an arbitrary name. This actor will automatically create a parameter with the same name as the input port. That parameter will have its value set during execution to match the value of the input.
- Fill in the stateVariableNames parameter, which is an array of strings, with the names of the state variables in X. These names can be arbitrary, since you will refer them to by name rather than by the symbol X.
- For each state variable name in stateVariableNames, create a parameter with a value equal to the initial value of that particular state variable.
- Specify an update function (part of f above) for each state variable by creating a parameter named name_update, where name is the name of the state variable. The value of this parameter should be an expression giving the rate of change of this state variable as a function of any of the state variables, any input, any other actor parameter, and (possibly), the variable t, representing current time.
- For each output in y, create an output port. The output may have any name. This actor will automatically create a parameter with the same name as the output port.
- For each parameter matching an output port, set its value to be an expression giving the output value as a function of the state variables, the inputs, any other actor parameter, and (possibly), the variable t, representing current time.
- Since:
- Ptolemy II 10.0
- Version:
- $Id$
- Author:
- Ilge Akkaya
- See Also:
ParticleFilter
- Pt.AcceptedRating:
- Red (ilgea)
- Pt.ProposedRating:
- Red (ilgea)
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Nested Class Summary
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Nested classes/interfaces inherited from class org.ptolemy.machineLearning.particleFilter.AbstractParticleFilter
AbstractParticleFilter.InputType
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Nested classes/interfaces inherited from class ptolemy.kernel.CompositeEntity
CompositeEntity.ContainedObjectsIterator
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Field Summary
Fields Modifier and Type Field Description PortParameter
observerPosition
Position of the observer.Parameter
x_update
x component update equation.Parameter
y_update
y component update equation.Parameter
z
Observation expression.TypedIOPort
z_m
Incoming measurements.-
Fields inherited from class org.ptolemy.machineLearning.particleFilter.ParticleFilter
measurementCovariance, prior, processNoise, stateVariableNames
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Fields inherited from class org.ptolemy.machineLearning.particleFilter.AbstractParticleFilter
_inputRelations, _particleLabels, _particleTypes, _Sigma, _stateLabels, _stateNames, _stateTypes, _upToDate, bootstrap, lowVarianceSampler, MEASUREMENT_NOISE, MEASUREMENT_POSTFIX, outputParticleCount, particleCount, particleOutput, PRIOR_NAME, PROCESS_NOISE, resetOnEachRun, seed, STATE_VARIABLE_NAMES, stateEstimate, t, UPDATE_POSTFIX
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Fields inherited from class ptolemy.actor.CompositeActor
_actorFiringListeners, _causalityInterface, _derivedPiggybacks, _initializables, _notifyingActorFiring, _piggybacks, _publishedPorts, _publisherRelations, _stopRequested, _subscribedPorts
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Fields inherited from class ptolemy.kernel.CompositeEntity
_levelCrossingLinks
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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
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Fields inherited from interface ptolemy.actor.Executable
COMPLETED, NOT_READY, STOP_ITERATING
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Constructor Summary
Constructors Constructor Description ParticleFilterRange(CompositeEntity container, java.lang.String name)
Construct an actor with the given container and name.ParticleFilterRange(Workspace workspace)
Construct an actor in the given workspace.
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Method Summary
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Methods inherited from class org.ptolemy.machineLearning.particleFilter.ParticleFilter
_checkParameters, attributeChanged, getInputType, getMeasurementParameter, getNoiseParameter, getUserDefinedParameter, satisfiesMapConstraints
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Methods inherited from class org.ptolemy.machineLearning.particleFilter.AbstractParticleFilter
_constrainParticles, fire, getMeasurementParameterExpression, getUserDefinedParameterExpression, preinitialize, wrapup
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Methods inherited from class ptolemy.actor.TypedCompositeActor
_addEntity, _addPort, _addRelation, _checkTypesFromTo, _destinationTypeConstraints, attributeTypeChanged, isBackwardTypeInferenceEnabled, newPort, newRelation, resolveTypes, typeConstraintList, typeConstraints
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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
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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
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Methods inherited from class ptolemy.kernel.ComponentEntity
_checkContainer, _getContainedObject, _propagateExistence, getContainer, instantiate, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, propagateExistence, setName
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Methods inherited from class ptolemy.kernel.Entity
_removePort, connectedPortList, connectedPorts, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts
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Methods inherited from class ptolemy.kernel.InstantiableNamedObj
_setParent, getChildren, getElementName, getParent, getPrototypeList, isClassDefinition, isWithinClassDefinition
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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
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Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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Methods inherited from interface ptolemy.actor.Actor
createReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortList
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Methods inherited from interface ptolemy.kernel.util.Derivable
getDerivedLevel, getDerivedList, propagateValue
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Methods inherited from interface ptolemy.actor.Executable
isFireFunctional, isStrict, iterate, postfire, prefire, stop, stopFire, terminate
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Methods inherited from interface ptolemy.actor.Initializable
addInitializable, initialize, removeInitializable
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Methods inherited from interface ptolemy.kernel.util.Nameable
description, getContainer, getDisplayName, getFullName, getName, getName, setName
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Field Detail
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z_m
public TypedIOPort z_m
Incoming measurements.
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z
public Parameter z
Observation expression.
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x_update
public Parameter x_update
x component update equation.
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y_update
public Parameter y_update
y component update equation.
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observerPosition
public PortParameter observerPosition
Position of the observer.
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Constructor Detail
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ParticleFilterRange
public ParticleFilterRange(CompositeEntity container, java.lang.String name) throws NameDuplicationException, IllegalActionException
Construct an actor with the given container and name.- Parameters:
container
- The container.name
- The name of this actor.- Throws:
IllegalActionException
- If the actor cannot be contained by the proposed container.NameDuplicationException
- If the container already has an actor with this name.
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ParticleFilterRange
public ParticleFilterRange(Workspace workspace) throws IllegalActionException, NameDuplicationException
Construct an actor in the given workspace.- Parameters:
workspace
- the workspace in which to construct the actor.- Throws:
IllegalActionException
- If the actor cannot be contained by the proposed container.NameDuplicationException
- If the container already has an actor with this name.
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