TrackingController (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.ModelAgentBase
  - - artisynth.core.modelbase.ControllerMonitorBase
    - - artisynth.core.modelbase.ControllerBase
      - artisynth.core.inverse.TrackingController

All Implemented Interfaces:: ComponentChangeListener, CompositeComponent, Controller, HasState, IndexedComponentList, ModelAgent, ModelComponent, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class TrackingController
extends ControllerBase
implements CompositeComponent, RenderableComponent

"Inverse" controller for computing muscle activations based on a set of kinematic target trajectories.

Terminology:

"Targets"	are trajectories of points/frames that we wish our model to follow
"Markers" or "Sources"	are the points/frames in the model we want to follow the target trajectories
"Excitation"	we actually mean, "activation", since we are currently ignoring the excitation dynamics

Papers:
- Ian Stavness, JE Lloyd, and SS Fels. Automatic Prediction of Tongue Muscle Activations Using a Finite Element Model. Journal of Biomechanics, 45(16):2841-2848, 2012.
- Ian Stavness, AG Hannam, JE Lloyd, and SS Fels. Predicting muscle patterns for hemimandibulectomy models. Computer Methods in Biomechanics and Biomedical Engineering, 13(4):483-491, 2010.

Author:: Ian Stavness, with modifications by Antonio Sanchez

Nested Class Summary
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
  CompositeComponent.NavpanelDisplay
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.NavpanelVisibility

Field Summary

Fields
Modifier and Type	Field and Description
`static boolean`	`DEFAULT_DEBUG`
`static double`	`DEFAULT_EXCITATION_REGULARIZATION_WEIGHT`
`static double`	`DEFAULT_MAX_EXCITATION_JUMP`
`static double`	`DEFAULT_PROBE_DURATION`
`static double`	`DEFAULT_PROBE_INTERVAL`
`static boolean`	`DEFAULT_USE_INVERSE_MANAGER`
`static PropertyList`	`myProps`

Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable
TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors
Constructor and Description
`TrackingController(MechSystemBase m)` Creates a tracking controller for a given mech system
`TrackingController(MechSystemBase m, java.lang.String name)` Creates and names a tracking controller for a given mech system

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addCostTerm(QPTerm term)` Add another term to the optimization, typically for regularization
`DampingTerm`	`addDampingTerm()` Adds and returns a standard damping term on excitations
`DampingTerm`	`addDampingTerm(double w)` Adds and returns a standard damping term on excitations, weighted by the supplied value
`void`	`addEqualityTerm(LeastSquaresTerm term)` Add an equality constraint to the optimization
`void`	`addExciter(double weight, ExcitationComponent ex)` Adds an exciter to be used as a free variable in the inverse routine
`void`	`addExciter(double weight, ExcitationComponent ex, double gain)` Adds an exciter to be used as a free variable in the inverse routine
`void`	`addExciter(ExcitationComponent ex)` Adds an exciter to be used as a free variable in the inverse routine
`void`	`addExciter(ExcitationComponent ex, double gain)` Adds an exciter to be used as a free variable in the inverse routine
`void`	`addForceTargetTerm(ForceTargetTerm ft)`
`void`	`addInequalityTerm(LeastSquaresTerm term)` Add an inequality constraint to the optimization
`L2RegularizationTerm`	`addL2RegularizationTerm()` Adds and returns a standard L2 regularization term on excitations
`L2RegularizationTerm`	`addL2RegularizationTerm(double w)` Adds and returns a standard L2 regularization term on excitations, weighted by the supplied value
`MotionTargetComponent`	`addMotionTarget(MotionTargetComponent source)` Adds a source for the tracking and creates a corresponding target point or frame object
`MotionTargetComponent`	`addMotionTarget(MotionTargetComponent source, double weight)` Adds a source for the tracking and creates a corresponding target point or frame object
`void`	`addRegularizationTerms(java.lang.Double w_l2norm, java.lang.Double w_damping)` Adds both L2 and damping regularization terms with supplied weights
`void`	`apply(double t0, double t1)` Applies the controller, estimating and setting the next set of muscle activations
`void`	`clearExciters()` Clears all exciters
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`void`	`createPanel(RootModel root)` Creates a control panel for this inverse controller
`void`	`createProbes(RootModel root)`
`void`	`createProbesAndPanel(RootModel root)`
`void`	`dispose()` Clears all terms and disposes storage
`ModelComponent`	`findComponent(java.lang.String path)` Recursively searches for a sub-component of this ModelComponent, identified by a path of component names.
`ModelComponent`	`get(int idx)` Returns a specific sub-component of this ModelComponent, identified by index.
`ModelComponent`	`get(java.lang.String nameOrNumber)` Returns a specific sub-component of this ModelComponent, identified by name or string representation of the sub-component's number
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`ModelComponent`	`getByNumber(int num)` Returns a specific sub-component of this ModelComponent, identified by number.
`java.util.ArrayList<QPTerm>`	`getCostTerms()` Retrieves a list of all terms, including the tracking error and any regularization terms
`MotionForceInverseData`	`getData()`
`boolean`	`getDebug()`
`java.util.ArrayList<LeastSquaresTerm>`	`getEqualityConstraints()` Retrieves a list of all equality constraints
`int`	`getExcitations(VectorNd ex, int idx)` Fills the supplied `ex` vector with current excitation values starting at index `idx`
`ListView<ExcitationComponent>`	`getExciters()` Gets the list of excitators used as free variables in the inverse routine
`ForceTargetTerm`	`getForceTargetTerm()` Returns the reaction force target term, responsible for force error
`java.util.ArrayList<LeastSquaresTerm>`	`getInequalityConstraints()` Retrieves a list of all inequality constraints
`MechSystemSolver.Integrator`	`getIntegrator()` Returns the integrator used by the mech system
`double`	`getMaxExcitationJump()` Gets the governor's maximum excitation jump
`MechSystemBase`	`getMech()` Gets the mechanical system used for computing forces
`java.util.ArrayList<MotionTargetComponent>`	`getMotionSources()` Returns the set of sources
`java.util.ArrayList<MotionTargetComponent>`	`getMotionTargets()` Returns the set of targets
`MotionTargetTerm`	`getMotionTargetTerm()` Returns the motion target term, responsible for trajectory error
`VectorNd`	`getMotionTargetWeights()` Returns the set of target weights
`MotionTargetTerm`	`getMotionTerm()` Returns the "motion" term, responsible for tracking error
`MuscleExciter`	`getMuscleExciter()`
`CompositeComponent.NavpanelDisplay`	`getNavpanelDisplay()` Returns the DisplayMode for this component.
`int`	`getNumberLimit()` Returns the current upper limit for numbers among all sub-components in this composite.
`double`	`getProbeDuration()`
`double`	`getProbeUpdateInterval()`
`L2RegularizationTerm`	`getRegularizationTerm()`
`boolean`	`getSourcesVisible()`
`PointList<TargetPoint>`	`getTargetPoints()`
`boolean`	`getTargetsVisible()`
`ListView<MotionTargetComponent>`	`getTargetView()`
`boolean`	`hierarchyContainsReferences()` Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references.
`int`	`indexOf(ModelComponent comp)` Returns the index of a specified sub-component, or -1 if that the component is not present.
`void`	`initializeExcitations()` Initialize the controller with the current excitations in the model, allows for non-zero starting excitations
`static boolean`	`isDebugTimestep(double t0, double t1)`
`boolean`	`isEnabled()` Returns whether or not the controller is enabled
`int`	`numComponents()` Returns the number of components in this CompositeComponent.
`int`	`numExcitations()` Number of exciters controlled by this controller
`void`	`postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor)` Performs any required post-scanning for this component.
`void`	`prerender(RenderList list)` Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
`void`	`removeMotionTarget(MotionTargetComponent source)`
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`void`	`setDebug(boolean b)` Puts controller into debug mode, printing messages
`void`	`setEnabled(boolean enabled)` Enable or disable the controller
`void`	`setExcitationBounds(double lower, double upper)`
`void`	`setExcitationRange(ExcitationComponent ex, double lower, double upper)`
`int`	`setExcitations(VectorNd ex, int idx)` Sets excitations provided in the `ex` vector starting at index `idx`.
`void`	`setInitialExcitations(VectorNd init)` Sets initial excitations to the supplied values
`void`	`setMaxExcitationJump(double j)` For the governor, limits jump in excitation for all exciters to the supplied delta
`void`	`setMech(MechSystemBase m)` Set the mech system, used by the solver to compute forces
`void`	`setMotionRenderProps(RenderProps targets, RenderProps sources)` Sets render properties for targets and sources
`void`	`setMotionTargetWeight(MotionTargetComponent comp, double w)`
`void`	`setOffsetBounds(VectorNd ex, double lower, double upper)`
`void`	`setProbeDuration(double newProbeDuration)`
`void`	`setProbeUpdateInterval(double h)`
`void`	`setSourcesVisible(boolean show)` Show or hide the sources
`void`	`setTargetPositionFilename(java.lang.String filename)`
`void`	`setTargetsPointRadius(double radius)` Sets targets to shows a spheres with given radius
`void`	`setTargetsVisible(boolean show)` Show or hide the targets
`void`	`updateConstraints(double t)` Updates constraints in the mech system at time t, including contacts
`void`	`updateForces(double t, VectorNd forces, VectorNd excitations)` Determines the set of forces given a set of excitations.
`void`	`updateNameMap(java.lang.String newName, java.lang.String oldName, ModelComponent comp)`

Methods inherited from class artisynth.core.modelbase.ControllerBase
render

Methods inherited from class artisynth.core.modelbase.ControllerMonitorBase
copy, createRenderProps, createState, getInitialState, getInitialState, getRenderHints, getRenderProps, getSelection, getState, hasState, isSelectable, numSelectionQueriesNeeded, setInitialState, setRenderProps, setState, updateBounds

Methods inherited from class artisynth.core.modelbase.ModelAgentBase
finalize, getModel, initialize, isActive, setActive, setModel, setModelFromComponent, write

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences

Methods inherited from interface maspack.properties.HasProperties
getProperty

Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable
isWritable, write

Methods inherited from interface maspack.render.IsSelectable
getSelection, isSelectable, numSelectionQueriesNeeded

Methods inherited from interface maspack.render.IsRenderable
getRenderHints, render, updateBounds

Methods inherited from interface maspack.render.HasRenderProps
createRenderProps, getRenderProps, setRenderProps

Methods inherited from interface artisynth.core.modelbase.ModelAgent
getModel, initialize, isActive, setModel

Methods inherited from interface artisynth.core.modelbase.HasState
createState, getInitialState, getState, setState

- Field Detail
  - DEFAULT_USE_INVERSE_MANAGER
```
public static final boolean DEFAULT_USE_INVERSE_MANAGER
```
    See Also:
    
    Constant Field Values
  - DEFAULT_MAX_EXCITATION_JUMP
```
public static double DEFAULT_MAX_EXCITATION_JUMP
```
  - DEFAULT_EXCITATION_REGULARIZATION_WEIGHT
```
public static final double DEFAULT_EXCITATION_REGULARIZATION_WEIGHT
```
    See Also:
    
    Constant Field Values
  - DEFAULT_PROBE_DURATION
```
public static final double DEFAULT_PROBE_DURATION
```
    See Also:
    
    Constant Field Values
  - DEFAULT_PROBE_INTERVAL
```
public static final double DEFAULT_PROBE_INTERVAL
```
    See Also:
    
    Constant Field Values
  - DEFAULT_DEBUG
```
public static final boolean DEFAULT_DEBUG
```
    See Also:
    
    Constant Field Values
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - TrackingController
```
public TrackingController(MechSystemBase m)
```
    Creates a tracking controller for a given mech system
    
    Parameters:
    
    m - mech system, typically your "MechModel"
  - TrackingController
```
public TrackingController(MechSystemBase m,
                          java.lang.String name)
```
    Creates and names a tracking controller for a given mech system
    
    Parameters:
    
    m - mech system, typically your "MechModel"
    
    name - name to give the controller
- Method Detail
  - isDebugTimestep
```
public static boolean isDebugTimestep(double t0,
                                      double t1)
```
  - 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 ModelAgentBase
    
    Returns:
    
    static information for all exported properties
  - getMotionTerm
```
public MotionTargetTerm getMotionTerm()
```
    Returns the "motion" term, responsible for tracking error
    
    Returns:
    
    motion term for tracking error
  - getRegularizationTerm
```
public L2RegularizationTerm getRegularizationTerm()
```
  - createProbes
```
public void createProbes(RootModel root)
```
  - createPanel
```
public void createPanel(RootModel root)
```
    Creates a control panel for this inverse controller
  - createProbesAndPanel
```
public void createProbesAndPanel(RootModel root)
```
  - setTargetPositionFilename
```
public void setTargetPositionFilename(java.lang.String filename)
```
  - apply
```
public void apply(double t0,
                  double t1)
```
    Applies the controller, estimating and setting the next set of muscle activations
    
    Specified by:
    
    apply in interface Controller
    
    Parameters:
    
    t0 - time at start of simulation step
    
    t1 - time at end of simulation step
  - dispose
```
public void dispose()
```
    Clears all terms and disposes storage
    
    Specified by:
    
    dispose in interface ModelAgent
    
    Overrides:
    
    dispose in class ModelAgentBase
  - addForceTargetTerm
```
public void addForceTargetTerm(ForceTargetTerm ft)
```
  - addEqualityTerm
```
public void addEqualityTerm(LeastSquaresTerm term)
```
    Add an equality constraint to the optimization
    
    Parameters:
    
    term - the term to add
  - addInequalityTerm
```
public void addInequalityTerm(LeastSquaresTerm term)
```
    Add an inequality constraint to the optimization
    
    Parameters:
    
    term - the term to add
  - addCostTerm
```
public void addCostTerm(QPTerm term)
```
    Add another term to the optimization, typically for regularization
    
    Parameters:
    
    term - the term to add
  - getCostTerms
```
public java.util.ArrayList<QPTerm> getCostTerms()
```
    Retrieves a list of all terms, including the tracking error and any regularization terms
  - getEqualityConstraints
```
public java.util.ArrayList<LeastSquaresTerm> getEqualityConstraints()
```
    Retrieves a list of all equality constraints
  - getInequalityConstraints
```
public java.util.ArrayList<LeastSquaresTerm> getInequalityConstraints()
```
    Retrieves a list of all inequality constraints
  - isEnabled
```
public boolean isEnabled()
```
    Returns whether or not the controller is enabled
  - setEnabled
```
public void setEnabled(boolean enabled)
```
    Enable or disable the controller
  - setMech
```
public void setMech(MechSystemBase m)
```
    Set the mech system, used by the solver to compute forces
  - getMech
```
public MechSystemBase getMech()
```
    Gets the mechanical system used for computing forces
  - getIntegrator
```
public MechSystemSolver.Integrator getIntegrator()
```
    Returns the integrator used by the mech system
  - updateForces
```
public void updateForces(double t,
                         VectorNd forces,
                         VectorNd excitations)
```
    Determines the set of forces given a set of excitations. Note: this actually sets the excitations in the model
    
    Parameters:
    
    forces - output from the mech system
    
    excitations - input muscle excitations
  - updateConstraints
```
public void updateConstraints(double t)
```
    Updates constraints in the mech system at time t, including contacts
  - setExcitations
```
public int setExcitations(VectorNd ex,
                          int idx)
```
    Sets excitations provided in the ex vector starting at index idx.
    
    Parameters:
    
    ex - vector of excitations to use
    
    idx - start index
    
    Returns:
    
    current index in the ex buffer idx+numExcitations()
  - getExciters
```
public ListView<ExcitationComponent> getExciters()
```
    Gets the list of excitators used as free variables in the inverse routine
  - addExciter
```
public void addExciter(ExcitationComponent ex)
```
    Adds an exciter to be used as a free variable in the inverse routine
    
    Parameters:
    
    ex - exciter to add
  - addExciter
```
public void addExciter(ExcitationComponent ex,
                       double gain)
```
    Adds an exciter to be used as a free variable in the inverse routine
    
    Parameters:
    
    ex - exciter to add
    
    gain - the gain applied to the exciter
  - addExciter
```
public void addExciter(double weight,
                       ExcitationComponent ex)
```
    Adds an exciter to be used as a free variable in the inverse routine
    
    Parameters:
    
    weight - regularization weight to be applied to the exciter
    
    ex - exciter to add
  - addExciter
```
public void addExciter(double weight,
                       ExcitationComponent ex,
                       double gain)
```
    Adds an exciter to be used as a free variable in the inverse routine
    
    Parameters:
    
    weight - regularization weight to be applied to the exciter
    
    ex - exciter to add
    
    gain - the gain applied to the exciter
  - setExcitationRange
```
public void setExcitationRange(ExcitationComponent ex,
                               double lower,
                               double upper)
```
  - getMuscleExciter
```
public MuscleExciter getMuscleExciter()
```
  - clearExciters
```
public void clearExciters()
```
    Clears all exciters
  - setExcitationBounds
```
public void setExcitationBounds(double lower,
                                double upper)
```
  - setOffsetBounds
```
public void setOffsetBounds(VectorNd ex,
                            double lower,
                            double upper)
```
  - numExcitations
```
public int numExcitations()
```
    Number of exciters controlled by this controller
  - getExcitations
```
public int getExcitations(VectorNd ex,
                          int idx)
```
    Fills the supplied ex vector with current excitation values starting at index idx
    
    Parameters:
    
    ex - vector of excitations to fill
    
    idx - starting index
    
    Returns:
    
    next index to use idx+numExcitations()
  - addMotionTarget
```
public MotionTargetComponent addMotionTarget(MotionTargetComponent source)
```
    Adds a source for the tracking and creates a corresponding target point or frame object
    
    Parameters:
    
    source - point or frame to track
    
    Returns:
    
    the created target point/frame
  - removeMotionTarget
```
public void removeMotionTarget(MotionTargetComponent source)
```
  - addMotionTarget
```
public MotionTargetComponent addMotionTarget(MotionTargetComponent source,
                                             double weight)
```
    Adds a source for the tracking and creates a corresponding target point or frame object
    
    Parameters:
    
    source - point or frame to track
    
    weight - the weight by which to scale this target's contribution
    
    Returns:
    
    the created target point/frame
  - addL2RegularizationTerm
```
public L2RegularizationTerm addL2RegularizationTerm()
```
    Adds and returns a standard L2 regularization term on excitations
  - addL2RegularizationTerm
```
public L2RegularizationTerm addL2RegularizationTerm(double w)
```
    Adds and returns a standard L2 regularization term on excitations, weighted by the supplied value
  - addDampingTerm
```
public DampingTerm addDampingTerm()
```
    Adds and returns a standard damping term on excitations
  - addDampingTerm
```
public DampingTerm addDampingTerm(double w)
```
    Adds and returns a standard damping term on excitations, weighted by the supplied value
  - addRegularizationTerms
```
public void addRegularizationTerms(java.lang.Double w_l2norm,
                                   java.lang.Double w_damping)
```
    Adds both L2 and damping regularization terms with supplied weights
  - setMaxExcitationJump
```
public void setMaxExcitationJump(double j)
```
    For the governor, limits jump in excitation for all exciters to the supplied delta
  - getMaxExcitationJump
```
public double getMaxExcitationJump()
```
    Gets the governor's maximum excitation jump
  - setTargetsVisible
```
public void setTargetsVisible(boolean show)
```
    Show or hide the targets
  - setSourcesVisible
```
public void setSourcesVisible(boolean show)
```
    Show or hide the sources
  - setTargetsPointRadius
```
public void setTargetsPointRadius(double radius)
```
    Sets targets to shows a spheres with given radius
  - getSourcesVisible
```
public boolean getSourcesVisible()
```
  - getTargetsVisible
```
public boolean getTargetsVisible()
```
  - setDebug
```
public void setDebug(boolean b)
```
    Puts controller into debug mode, printing messages
  - getDebug
```
public boolean getDebug()
```
  - getTargetView
```
public ListView<MotionTargetComponent> getTargetView()
```
  - getForceTargetTerm
```
public ForceTargetTerm getForceTargetTerm()
```
    Returns the reaction force target term, responsible for force error
  - getMotionTargetTerm
```
public MotionTargetTerm getMotionTargetTerm()
```
    Returns the motion target term, responsible for trajectory error
  - getMotionTargets
```
public java.util.ArrayList<MotionTargetComponent> getMotionTargets()
```
    Returns the set of targets
  - getMotionSources
```
public java.util.ArrayList<MotionTargetComponent> getMotionSources()
```
    Returns the set of sources
  - setMotionRenderProps
```
public void setMotionRenderProps(RenderProps targets,
                                 RenderProps sources)
```
    Sets render properties for targets and sources
  - getMotionTargetWeights
```
public VectorNd getMotionTargetWeights()
```
    Returns the set of target weights
  - setMotionTargetWeight
```
public void setMotionTargetWeight(MotionTargetComponent comp,
                                  double w)
```
  - initializeExcitations
```
public void initializeExcitations()
```
    Initialize the controller with the current excitations in the model, allows for non-zero starting excitations
  - setInitialExcitations
```
public void setInitialExcitations(VectorNd init)
```
    Sets initial excitations to the supplied values
  - getProbeDuration
```
public double getProbeDuration()
```
  - setProbeDuration
```
public void setProbeDuration(double newProbeDuration)
```
  - getProbeUpdateInterval
```
public double getProbeUpdateInterval()
```
  - setProbeUpdateInterval
```
public void setProbeUpdateInterval(double h)
```
  - getTargetPoints
```
public PointList<TargetPoint> getTargetPoints()
```
  - prerender
```
public void prerender(RenderList list)
```
    Description copied from interface: IsRenderable
    
    Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling
    list.addIfVisible (obj);
    for each of the objects in question.
    
    Specified by:
    
    prerender in interface IsRenderable
    
    Overrides:
    
    prerender in class ControllerMonitorBase
    
    Parameters:
    
    list - list of objects to be rendered
  - get
```
public ModelComponent get(java.lang.String nameOrNumber)
```
    Returns a specific sub-component of this ModelComponent, identified by name or string representation of the sub-component's number
    
    Specified by:
    
    get in interface CompositeComponent
    
    Parameters:
    
    nameOrNumber - name or number of the sub-component
    
    Returns:
    
    named sub-component, or null if the component does not exist.
  - get
```
public ModelComponent get(int idx)
```
    Returns a specific sub-component of this ModelComponent, identified by index.
    
    Specified by:
    
    get in interface CompositeComponent
    
    Specified by:
    
    get in interface IndexedComponentList
    
    Parameters:
    
    idx - index of the sub-component
    
    Returns:
    
    indexed sub-component, or null if the component does not exist.
  - getByNumber
```
public ModelComponent getByNumber(int num)
```
    Returns a specific sub-component of this ModelComponent, identified by number.
    
    Specified by:
    
    getByNumber in interface CompositeComponent
    
    Parameters:
    
    num - number of the sub-component
    
    Returns:
    
    specified sub-component, or null if the component does not exist.
  - numComponents
```
public int numComponents()
```
    Returns the number of components in this CompositeComponent.
    
    Specified by:
    
    numComponents in interface CompositeComponent
    
    Specified by:
    
    numComponents in interface IndexedComponentList
    
    Returns:
    
    number of sub-components
  - indexOf
```
public int indexOf(ModelComponent comp)
```
    Returns the index of a specified sub-component, or -1 if that the component is not present.
    
    Specified by:
    
    indexOf in interface CompositeComponent
    
    Parameters:
    
    comp - component whose index is requested
    
    Returns:
    
    indexed sub-component
  - findComponent
```
public ModelComponent findComponent(java.lang.String path)
```
    Recursively searches for a sub-component of this ModelComponent, identified by a path of component names.
    
    Specified by:
    
    findComponent in interface CompositeComponent
    
    Parameters:
    
    path - path leading to the sub-component
    
    Returns:
    
    named sub-component, or null if the component does not exist.
  - getNumberLimit
```
public int getNumberLimit()
```
    Returns the current upper limit for numbers among all sub-components in this composite. This is one greater than the maximum sub-component number currently assigned. A value of 0 means that there are no sub-components. This method is useful for creating and sizing arrays whose contents are indexed by component numbers.
    
    Specified by:
    
    getNumberLimit in interface CompositeComponent
    
    Returns:
    
    upper limit for numbers among all sub-components
  - getNavpanelDisplay
```
public CompositeComponent.NavpanelDisplay getNavpanelDisplay()
```
    Returns the DisplayMode for this component. This specifies how the component should be displayed in a navigation panel.
    
    Specified by:
    
    getNavpanelDisplay in interface CompositeComponent
    
    Returns:
    
    display mode for this component
  - componentChanged
```
public void componentChanged(ComponentChangeEvent e)
```
    Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.
    This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.
    
    Specified by:
    
    componentChanged in interface ComponentChangeListener
    
    Specified by:
    
    componentChanged in interface CompositeComponent
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - updateNameMap
```
public void updateNameMap(java.lang.String newName,
                          java.lang.String oldName,
                          ModelComponent comp)
```
    Specified by:
    
    updateNameMap in interface CompositeComponent
  - hierarchyContainsReferences
```
public boolean hierarchyContainsReferences()
```
    Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references. In other words, all components referenced by components within the hierarchy are themselves components within the hierarchy.
    In particular, this means that one does not need to search outside the hierarchy when looking for dependencies.
    
    Specified by:
    
    hierarchyContainsReferences in interface CompositeComponent
    
    Returns:
    
    true if this component's hierarchy is closed with respect to references.
  - scan
```
public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException
```
    Description copied from class: ModelComponentBase
    
    Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.
    
    Specified by:
    
    scan in interface ModelComponent
    
    Specified by:
    
    scan in interface Scannable
    
    Overrides:
    
    scan in class ModelComponentBase
    
    Parameters:
    
    rtok - Tokenizer from which to scan the element
    
    ref - optional reference object which can be used for resolving references to other objects
    
    Throws:
    
    java.io.IOException - if an I/O or formatting error occured
  - postscan
```
public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException
```
    Description copied from interface: ModelComponent
    
    Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the scan() method and stored in the token queue. The most common use of this method is to resolve the paths of component references, which may not have been created at the time of the initial scan() call.
    
    Specified by:
    
    postscan in interface ModelComponent
    
    Overrides:
    
    postscan in class ModelComponentBase
    
    Parameters:
    
    tokens - token information that was stored during scan().
    
    ancestor - ancestor component with respect to which reference component paths are defined.
    
    Throws:
    
    java.io.IOException - if an error is encountered (such as a reference to a non-existent component)
  - getData
```
public MotionForceInverseData getData()
```

Class TrackingController

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.modelbase.ControllerBase

Methods inherited from class artisynth.core.modelbase.ControllerMonitorBase

Methods inherited from class artisynth.core.modelbase.ModelAgentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface maspack.util.Scannable

Methods inherited from interface maspack.render.IsSelectable

Methods inherited from interface maspack.render.IsRenderable

Methods inherited from interface maspack.render.HasRenderProps

Methods inherited from interface artisynth.core.modelbase.ModelAgent

Methods inherited from interface artisynth.core.modelbase.HasState

Field Detail

DEFAULT_USE_INVERSE_MANAGER

DEFAULT_MAX_EXCITATION_JUMP

DEFAULT_EXCITATION_REGULARIZATION_WEIGHT

DEFAULT_PROBE_DURATION

DEFAULT_PROBE_INTERVAL

DEFAULT_DEBUG

myProps

Constructor Detail

TrackingController

TrackingController

Method Detail

isDebugTimestep

getAllPropertyInfo

getMotionTerm

getRegularizationTerm

createProbes

createPanel

createProbesAndPanel

setTargetPositionFilename

apply

dispose

addForceTargetTerm

addEqualityTerm

addInequalityTerm

addCostTerm

getCostTerms

getEqualityConstraints

getInequalityConstraints

isEnabled

setEnabled

setMech

getMech

getIntegrator

updateForces

updateConstraints

setExcitations

getExciters

addExciter

addExciter

addExciter

addExciter

setExcitationRange

getMuscleExciter

clearExciters

setExcitationBounds

setOffsetBounds

numExcitations

getExcitations

addMotionTarget

removeMotionTarget

addMotionTarget

addL2RegularizationTerm

addL2RegularizationTerm

addDampingTerm

addDampingTerm

addRegularizationTerms