artisynth.core.inverse

Interface QPCostTerm

All Superinterfaces:

HasProperties, HierarchyNode, ModelComponent, PostScannable, QPTerm, Scannable

All Known Subinterfaces:

LeastSquaresTerm

All Known Implementing Classes:

DampingTerm, DynamicRegularizationTerm, ForceEffectorTerm, ForceTargetTerm, L2RegularizationTerm, L2RegularizationTermForDeltas, LeastSquaresTermBase, MotionTargetTerm, ProportionalTerm, QPCostTermBase, StabilityTerm

public interface QPCostTerm
extends QPTerm

QPTerm that adds to the cost components Q and p of a quadratic program that minimizes

    1/2 x^T Q x + p^T x
 

subject to equality and inequality constraints.

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

Method Summary

Modifier and Type	Method and Description
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 interface artisynth.core.inverse.QPTerm

getController, getType, getWeight, isEnabled, setWeight

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, 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

Method Detail

getQP

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