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java.lang.Objectartisynth.core.modelbase.ModelComponentBase
artisynth.core.inverse.FrameExciter
public class FrameExciter
Nested Class Summary | |
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static class |
FrameExciter.WrenchComponent
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Nested classes/interfaces inherited from interface artisynth.core.mechmodels.ExcitationComponent |
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ExcitationComponent.CombinationRule |
Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent |
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ModelComponent.NavpanelVisibility |
Field Summary | |
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static PropertyList |
myProps
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Fields inherited from class artisynth.core.modelbase.ModelComponentBase |
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enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames |
Constructor Summary | |
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FrameExciter()
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FrameExciter(java.lang.String name)
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FrameExciter(java.lang.String name,
Frame body,
FrameExciter.WrenchComponent comp,
double maxForce)
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Method Summary | |
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void |
addExcitationSource(ExcitationComponent ex)
Adds a new excitation source to this Excitable, with an assumed gain of 1. |
void |
addExcitationSource(ExcitationComponent ex,
double gain)
Adds a new excitation source to this Excitable with a specified gain. |
static FrameExciter[] |
addFrameExciters(MechModel mech,
Frame frame,
double maxForce)
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static FrameExciter[] |
addLinearFrameExciters(MechModel mech,
Frame frame,
double maxForce)
|
void |
addPosJacobian(SparseNumberedBlockMatrix M,
double s)
Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M. |
void |
addSolveBlocks(SparseNumberedBlockMatrix M)
Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. |
void |
addVelJacobian(SparseNumberedBlockMatrix M,
double s)
Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M. |
void |
applyForces(double t)
Adds forces to the components affected by this force effector at a particular time. |
PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by this object. |
ExcitationComponent.CombinationRule |
getCombinationRule()
Return the combination rule for excitations. |
double |
getDefaultActivationWeight()
Returns the default weight that should be used when this excitation component is being used for inverse actuation control. |
double |
getExcitation()
Returns the primary excitation for this component. |
double |
getExcitationGain(ExcitationComponent ex)
Gets the gain for an excitation source in this component. |
int |
getJacobianType()
Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. |
double |
getMaxForce()
|
double |
getNetExcitation()
Returns the net excitation for this Excitable. |
void |
getSoftReferences(java.util.List<ModelComponent> refs)
Appends all soft references for this component to a list. |
void |
initialize(double t)
Called from within the model's initialize() method. |
boolean |
removeExcitationSource(ExcitationComponent ex)
Removes an excitation source from this Excitable. |
void |
setCombinationRule(ExcitationComponent.CombinationRule rule)
Sets the rule for combining excitations. |
void |
setExcitation(double e)
Sets the primary excitation for this component. |
boolean |
setExcitationGain(ExcitationComponent ex,
double gain)
Sets the gain for an excitation source in this component. |
void |
setMaxForce(double maxForce)
|
void |
updateReferences(boolean undo,
java.util.Deque<java.lang.Object> undoInfo)
May be called by the system if any of the soft references for this component are removed from the the component hierarchy. |
Methods inherited from class artisynth.core.modelbase.ModelComponentBase |
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checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, copy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, hasChildren, hasState, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, write |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface artisynth.core.modelbase.ModelComponent |
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connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected |
Methods inherited from interface maspack.properties.HasProperties |
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getProperty |
Methods inherited from interface maspack.properties.HierarchyNode |
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getChildren, hasChildren |
Methods inherited from interface maspack.util.Scannable |
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isWritable, write |
Field Detail |
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public static PropertyList myProps
Constructor Detail |
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public FrameExciter(java.lang.String name, Frame body, FrameExciter.WrenchComponent comp, double maxForce)
public FrameExciter(java.lang.String name)
public FrameExciter()
Method Detail |
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public PropertyList getAllPropertyInfo()
HasProperties
getAllPropertyInfo
in interface HasProperties
getAllPropertyInfo
in class ModelComponentBase
public void setCombinationRule(ExcitationComponent.CombinationRule rule)
ExcitationComponent
setCombinationRule
in interface ExcitationComponent
rule
- rule for combining excitationspublic ExcitationComponent.CombinationRule getCombinationRule()
ExcitationComponent
getCombinationRule
in interface ExcitationComponent
public void initialize(double t)
initialize()
method.
initialize
in interface RequiresInitialize
t
- initialization time (seconds)public void setExcitation(double e)
ExcitationComponent
setExcitation
in interface ExcitationComponent
e
- excitation valuepublic double getExcitation()
ExcitationComponent
getExcitation
in interface ExcitationComponent
public void addExcitationSource(ExcitationComponent ex)
addExcitationSource
in interface ExcitationComponent
ex
- excitatation source to be addedpublic void addExcitationSource(ExcitationComponent ex, double gain)
addExcitationSource
in interface ExcitationComponent
ex
- excitatation source to be addedgain
- gain for the sourcepublic boolean removeExcitationSource(ExcitationComponent ex)
removeExcitationSource
in interface ExcitationComponent
ex
- excitatation source to be removed
public double getExcitationGain(ExcitationComponent ex)
getExcitationGain
in interface ExcitationComponent
ex
- excitatation source whose gain is to be queried
public boolean setExcitationGain(ExcitationComponent ex, double gain)
setExcitationGain
in interface ExcitationComponent
ex
- excitatation source whose gain is to be modifiedgain
- new gain for the source
public double getNetExcitation()
getNetExcitation
in interface ExcitationComponent
public void getSoftReferences(java.util.List<ModelComponent> refs)
updateReferences()
method will
be called to update its internal reference information.
getSoftReferences
in interface ModelComponent
getSoftReferences
in class ModelComponentBase
refs
- list to which soft references are appendedpublic void updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo)
undo
equal to false
,
this component should then examine its soft references and
use ComponentUtils.isConnected()
to determine which of them have been disconnected from the hierarchy.
Disconnected references should be removed, and sufficient information
should be appended to undoInfo
to allow this update
to be undone if this method is called later with undo
equal to true
. When undoing an update, the undo
information should be removed from the front of undoInfo
.
updateReferences
in interface ModelComponent
updateReferences
in class ModelComponentBase
undo
- if true
, indicates that the most
recent reference update should be undone, using the supplied
undo information.undoInfo
- if undo
is false
, should be used
to store information allowing the reference update to be undone.
Otherwise, if undo
is true
, then this
supplied information to undo the most recent update.public double getDefaultActivationWeight()
ExcitationComponent
getDefaultActivationWeight
in interface ExcitationComponent
public double getMaxForce()
public void setMaxForce(double maxForce)
public void applyForces(double t)
ForceEffector
applyForces
in interface ForceEffector
t
- time (seconds)public void addSolveBlocks(SparseNumberedBlockMatrix M)
ForceEffector
getSolveIndex
) for all dynamic or attached components affected by this
force effector.
addSolveBlocks
in interface ForceEffector
M
- solve matrix to which blocks should be addedpublic void addPosJacobian(SparseNumberedBlockMatrix M, double s)
ForceEffector
M is guaranteed to be the same matrix supplied in the most recent call to
addSolveBlocks
, and so implementations may choose
to cache the relevant matrix blocks from that call, instead of retrieving
them directly from M.
addPosJacobian
in interface ForceEffector
M
- solve matrix to which scaled position Jacobian is to be addeds
- scaling factor for position Jacobianpublic void addVelJacobian(SparseNumberedBlockMatrix M, double s)
ForceEffector
M is guaranteed to be the same matrix supplied in the most recent call to
addSolveBlocks
, and so implementations may choose
to cache the relevant matrix blocks from that call, instead of retrieving
them directly from M.
addVelJacobian
in interface ForceEffector
M
- solve matrix to which scaled velocity Jacobian is to be addeds
- scaling factor for velocity Jacobianpublic int getJacobianType()
ForceEffector
Matrix.SYMMETRIC
or Matrix.POSITIVE_DEFINITE
. The former should be set if adding the Jacobian
terms preserves symmetry, and the latter should be set if positive
definiteness if preserved. Both should be set if there is no Jacobian for
this effector (i.e., the Jacobian methods are not implemented). Matrix
types from all the force effectors are logically and-ed together to
determine the type for the entire solve matrix.
getJacobianType
in interface ForceEffector
public static FrameExciter[] addFrameExciters(MechModel mech, Frame frame, double maxForce)
public static FrameExciter[] addLinearFrameExciters(MechModel mech, Frame frame, double maxForce)
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