artisynth.core.inverse

Class LeastSquaresTermBase

java.lang.Object

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.LeastSquaresTermBase

All Implemented Interfaces:

LeastSquaresTerm, QPTerm, HasProperties

Direct Known Subclasses:

BoundsTerm, DampingTerm, ForceTargetTerm, L2RegularizationTerm, MotionTargetTerm, NonuniformBoundsTerm, SphericalJointForceBound

public abstract class LeastSquaresTermBase
extends QPTermBase
implements LeastSquaresTerm

Field Summary

Fields

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

Constructor Summary

Constructors

Constructor and Description
LeastSquaresTermBase()
LeastSquaresTermBase(double weight)

Method Summary

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
boolean	isEnabled() Returns that enabled status of this term, for use if term is an inequality / equality constraint
void	setEnabled(boolean enabled)
void	setSize(int size)

Methods inherited from class artisynth.core.inverse.QPTermBase

dispose, getProperty, getSize, getWeight, setWeight

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.inverse.LeastSquaresTerm

getRowSize

Methods inherited from interface artisynth.core.inverse.QPTerm

dispose, getSize, setWeight

Methods inherited from interface maspack.properties.HasProperties

getProperty

Field Detail

defaultWeight

public static final double defaultWeight

See Also:

Constant Field Values

DEFAULT_ENABLED

public static final boolean DEFAULT_ENABLED

See Also:

Constant Field Values

myProps

public static PropertyList myProps

Constructor Detail

LeastSquaresTermBase

public LeastSquaresTermBase()

LeastSquaresTermBase

public LeastSquaresTermBase(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

addRows

public void addRows(MatrixNd H,
                    VectorNd f)

Appends the provided rows to the cost term

Parameters:

H - left hand side

f - right hand side

getQP

public void getQP(MatrixNd Q,
                  VectorNd P,
                  double t0,
                  double t1)

Description copied from interface: QPTerm

Sums this term to the arguments Q and P

Specified by:

getQP in interface QPTerm

Overrides:

getQP in class QPTermBase

Parameters:

Q - the Quadratic term

P - the Proportional term

t0 - time at start of step

t1 - time at end of step

getTerm

public 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

Specified by:

getTerm in interface LeastSquaresTerm

Parameters:

H - container to store the left hand side

f - container to store the right hand side

rowoff - start from this row

t0 - time at start of step

t1 - time at end of step

setSize

public void setSize(int size)

Specified by:

setSize in interface QPTerm

Overrides:

setSize in class QPTermBase

isEnabled

public boolean isEnabled()

Description copied from interface: LeastSquaresTerm

Returns that enabled status of this term, for use if term is an inequality / equality constraint

Specified by:

isEnabled in interface LeastSquaresTerm

Returns:

is this term enabled

setEnabled

public void setEnabled(boolean enabled)