artisynth.core.inverse

Class DampingTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.DampingTerm

All Implemented Interfaces:

QPCostTerm, QPTerm, ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class DampingTerm
extends QPCostTermBase

Cost term that inhibits how quickly excitation values change

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.inverse.QPTerm

QPTerm.Type

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static double	defaultWeight

Fields inherited from class artisynth.core.inverse.QPTermBase

DEFAULT_ENABLED, DEFAULT_WEIGHT, myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Constructor Summary

Constructors

Constructor and Description
DampingTerm()
DampingTerm(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
void	connectToHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent).
void	disconnectFromHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent).
void	getQP(MatrixNd Q, VectorNd p, double t0, double t1) Adds the contribution of this term to the quadratic cost components Q and p.

Methods inherited from class artisynth.core.inverse.QPCostTermBase

getType

Methods inherited from class artisynth.core.inverse.QPTermBase

getAllPropertyInfo, getController, getProperty, getWeight, isEnabled, isInternal, setEnabled, setInternal, setWeight

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, copy, createTempFlag, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.inverse.QPTerm

getController, getWeight, isEnabled, setWeight

Methods inherited from interface artisynth.core.modelbase.ModelComponent

getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

defaultWeight

public static final double defaultWeight

See Also:

Constant Field Values

Constructor Detail

DampingTerm

public DampingTerm()

DampingTerm

public DampingTerm(java.lang.String name)

Method Detail

getQP

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

Adds the contribution of this term to the quadratic cost components Q and p.

Parameters:

Q - quadratic term

p - proportional term

t0 - time at start of step

t1 - time at end of step

connectToHierarchy

public void connectToHierarchy(CompositeComponent hcomp)

Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent). This method is responsible for doing any required hierarchy-dependent initialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component to which this component, or its ancestor, was attached

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent hcomp)

Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent). This method is responsible for any required hierarchy-dependent deinitialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component from which this component, or its ancestor, was detached