public abstract class LeastSquaresTermBase extends QPTermBase implements LeastSquaresTerm
Modifier and Type | Field and Description |
---|---|
static double |
defaultWeight |
static PropertyList |
myProps |
DEFAULT_ENABLED
Constructor and Description |
---|
LeastSquaresTermBase() |
LeastSquaresTermBase(double weight) |
Modifier and Type | Method and Description |
---|---|
void |
addRows(MatrixNd H,
VectorNd f)
Appends the provided rows to the cost term
|
PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by
this object.
|
void |
getQP(MatrixNd Q,
VectorNd P,
double t0,
double t1)
Sums this term to the arguments Q and P
|
int |
getTerm(MatrixNd H,
VectorNd f,
int rowoff,
double t0,
double t1)
Gets the current least squares term and returns the index of the last row
|
void |
setSize(int size) |
dispose, getProperty, getSize, getWeight, isEnabled, setEnabled, setWeight
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
getRowSize, isEnabled
getProperty
public static final double defaultWeight
public static PropertyList myProps
public LeastSquaresTermBase()
public LeastSquaresTermBase(double weight)
public PropertyList getAllPropertyInfo()
HasProperties
getAllPropertyInfo
in interface HasProperties
getAllPropertyInfo
in class QPTermBase
public void addRows(MatrixNd H, VectorNd f)
H
- left hand sidef
- right hand sidepublic void getQP(MatrixNd Q, VectorNd P, double t0, double t1)
QPTerm
getQP
in interface QPTerm
getQP
in class QPTermBase
Q
- the Quadratic termP
- the Proportional termt0
- time at start of stept1
- time at end of steppublic int getTerm(MatrixNd H, VectorNd f, int rowoff, double t0, double t1)
getTerm
in interface LeastSquaresTerm
H
- container to store the left hand sidef
- container to store the right hand siderowoff
- start from this rowt0
- time at start of stept1
- time at end of steppublic void setSize(int size)
setSize
in interface QPTerm
setSize
in class QPTermBase