/**
* Initialize particle filter parameters.
*
* @exception IllegalActionException
* @exception NameDuplicationException
*/
private void _init() throws IllegalActionException, NameDuplicationException {
StringToken[] stateNames = new StringToken[2];
stateNames[0] = new StringToken("x");
stateNames[1] = new StringToken("y");
stateVariableNames.setToken(new ArrayToken(BaseType.STRING, stateNames));
stateVariableNames.setVisibility(Settable.EXPERT);
observerPosition = new PortParameter(this, "observerPosition");
observerPosition.setExpression("{0.0,0.0}");
SingletonParameter showName =
(SingletonParameter) observerPosition.getPort().getAttribute("_showName");
if (showName == null) {
showName = new SingletonParameter(observerPosition.getPort(), "_showName");
showName.setToken("true");
} else {
showName.setToken("true");
}
// The input port for range measurements.
z_m = new TypedIOPort(this, "z_m", true, false);
z_m.setTypeEquals(BaseType.DOUBLE);
showName = (SingletonParameter) z_m.getAttribute("_showName");
z_m.setDisplayName("rangeMeasurement");
if (showName == null) {
showName = new SingletonParameter(z_m, "_showName");
showName.setToken("true");
} else {
showName.setToken("true");
}
// The parameter that contains the measurement expression.
z = new Parameter(this, "z");
z.setExpression("sqrt((x-observerPosition(0))^2 + (y-observerPosition(1))^2)");
z.setVisibility(Settable.EXPERT);
x_update = new Parameter(this, "x_update");
x_update.setExpression("x");
y_update = new Parameter(this, "y_update");
y_update.setExpression("y");
measurementCovariance.setExpression("[2.0]");
prior.setExpression("{random()*200-100,random()*200-100}");
processNoise.setExpression("multivariateGaussian({0.0,0.0},[3.0,0.0;0.0,3.0])");
particleCount.setExpression("2000");
bootstrap.setVisibility(Settable.EXPERT);
lowVarianceSampler.setVisibility(Settable.EXPERT);
}
/**
* Override the base class to set type constraints between the output ports and parameters of this
* actor whose name matches the output port. If there is no such parameter, then create an
* instance of Variable with a matching name and set up the type constraints to that instance. The
* type of the output port is constrained to be at least that of the parameter or variable.
*
* @exception IllegalActionException If there is no director, or if the director's preinitialize()
* method throws it, or if this actor is not opaque.
*/
public void preinitialize() throws IllegalActionException {
super.preinitialize();
Iterator ports = outputPortList().iterator();
while (ports.hasNext()) {
TypedIOPort port = (TypedIOPort) ports.next();
// Ensure that the production rate is one.
// FIXME: This may not be right if there is no
// actual source of data for this port (e.g. no
// SetVariable actor).
Variable rate = (Variable) port.getAttribute("tokenProductionRate");
if (rate == null) {
try {
rate = new Variable(port, "tokenProductionRate");
} catch (NameDuplicationException e) {
throw new InternalErrorException(e);
}
}
rate.setToken(new IntToken(1));
String portName = port.getName();
Attribute attribute = getAttribute(portName);
if (attribute == null) {
try {
workspace().getWriteAccess();
attribute = new Variable(this, portName);
} catch (NameDuplicationException ex) {
throw new InternalErrorException(ex);
} finally {
workspace().doneWriting();
}
}
// attribute is now assured to be non-null.
if (attribute instanceof Variable) {
port.setTypeAtLeast((Variable) attribute);
} else {
// Assume the port type must be a string.
port.setTypeEquals(BaseType.STRING);
}
}
}
