artisynth.core.inverse

Class SphericalJointForceBound

java.lang.Object

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.LeastSquaresTermBase

artisynth.core.inverse.SphericalJointForceBound

All Implemented Interfaces:

LeastSquaresTerm, QPTerm, HasProperties

public class SphericalJointForceBound
extends LeastSquaresTermBase

Field Summary

Fields inherited from class artisynth.core.inverse.LeastSquaresTermBase

DEFAULT_ENABLED, defaultWeight, myProps

Constructor Summary

Constructors

Constructor and Description
SphericalJointForceBound()
SphericalJointForceBound(double weight, TrackingController con)
SphericalJointForceBound(double weight, TrackingController con, Frame f)

Method Summary

Modifier and Type	Method and Description
void	addHalfspaceBound(Vector3d n) Add a half-space bound to the spherical joint This vector is specified relative to a global coordinate frame
java.util.ArrayList<Vector3d>	getBoundNormals() Returns a list of all the vectors forming the spherical joint force bound, in global coordinates.
Frame	getFrame() Returns the frame used by the spherical joint force bound This frame should not be directly modified as it is used to track the movement of the body that the joint is attached to.
MatrixNd	getMatrixOfBoundNormals()
int	getRowSize() Returns the number of rows.

Methods inherited from class artisynth.core.inverse.LeastSquaresTermBase

addRows, getAllPropertyInfo, getQP, getTerm, isEnabled, setEnabled, setSize

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.QPTerm

dispose, getSize, setWeight

Methods inherited from interface maspack.properties.HasProperties

getProperty

Constructor Detail

SphericalJointForceBound

public SphericalJointForceBound()

SphericalJointForceBound

public SphericalJointForceBound(double weight,
                                TrackingController con)

SphericalJointForceBound

public SphericalJointForceBound(double weight,
                                TrackingController con,
                                Frame f)

Method Detail

getRowSize

public int getRowSize()

Description copied from interface: LeastSquaresTerm

Returns the number of rows. Note that the number of columns is constrained by the QP-problem and can be queried using getSize().

Returns:

number of rows of the least squares problem

addHalfspaceBound

public void addHalfspaceBound(Vector3d n)

Add a half-space bound to the spherical joint This vector is specified relative to a global coordinate frame

Parameters:

n - vector specifying the half-space bound

getBoundNormals

public java.util.ArrayList<Vector3d> getBoundNormals()

Returns a list of all the vectors forming the spherical joint force bound, in global coordinates. (read-only)

Returns:

list of the bound normals

getMatrixOfBoundNormals

public MatrixNd getMatrixOfBoundNormals()

getFrame

public Frame getFrame()

Returns the frame used by the spherical joint force bound This frame should not be directly modified as it is used to track the movement of the body that the joint is attached to.

Returns:

the spherical joint's frame