artisynth.core.inverse

Class DynamicRegularizationTerm

java.lang.Object

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.DynamicRegularizationTerm

All Implemented Interfaces:

QPTerm, HasProperties

public class DynamicRegularizationTerm
extends QPTermBase

Extension of the L2RegularisationTerm that computes different weights for each of the excitation sources, based on how well they contribute to the desired motion. The weights are recomputed for every call to getQP, i.e. every time the tracking controller's apply is called.

Since:

2014-10-07

Author:

Teun Bartelds

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DynamicRegularizationTerm.Mapping

Field Summary

Fields

Modifier and Type	Field and Description
static double	defaultWeight
static PropertyList	myProps

Constructor Summary

Constructors

Constructor and Description
DynamicRegularizationTerm(TrackingController controller)
DynamicRegularizationTerm(TrackingController controller, double weight)

Method Summary

Modifier and Type	Method and Description
void	computeWeights(double dt)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
boolean	getIsEnabled()
boolean	getIsNormalized()
DynamicRegularizationTerm.Mapping	getMapping()
double	getParam()
double	getSigmoidMean()
void	setIsEnabled(boolean enabled)
void	setIsNormalized(boolean normalized)
void	setMapping(DynamicRegularizationTerm.Mapping m)
void	setParam(double parameter)
void	setSigmoidMean(double mean)

Methods inherited from class artisynth.core.inverse.QPTermBase

dispose, getProperty, getQP, getSize, getWeight, setSize, setWeight

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

defaultWeight

public static final double defaultWeight

See Also:

Constant Field Values

myProps

public static PropertyList myProps

Constructor Detail

DynamicRegularizationTerm

public DynamicRegularizationTerm(TrackingController controller)

DynamicRegularizationTerm

public DynamicRegularizationTerm(TrackingController controller,
                                 double weight)

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from interface: HasProperties

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class QPTermBase

Returns:

static information for all exported properties

computeWeights

public void computeWeights(double dt)

setIsEnabled

public void setIsEnabled(boolean enabled)

getIsEnabled

public boolean getIsEnabled()

setIsNormalized

public void setIsNormalized(boolean normalized)

getIsNormalized

public boolean getIsNormalized()

setParam

public void setParam(double parameter)

getParam

public double getParam()

setSigmoidMean

public void setSigmoidMean(double mean)

getSigmoidMean

public double getSigmoidMean()

setMapping

public void setMapping(DynamicRegularizationTerm.Mapping m)

getMapping

public DynamicRegularizationTerm.Mapping getMapping()