Interface  Description 

LeastSquaresTerm 
Defines a QPTerm that can be both a cost and a constraint term.

QPConstraintTerm 
QPTerm that adds to either the inequality or equality constraints of
a quadratic program.

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

QPTerm 
Base interface for the different terms used by the QP solver in the tracking
controller.

Class  Description 

BoundsTerm 
Constraint term to bound excitation values, using bounds specified by the
ExciterComps stored in the controller.

ConnectorBoundsRenderer 
Monitor that renders the bounds for a spherical joint, as specified by a
SphericalJointForceBound.

ConnectorForceRenderer 
Monitor that renders the force for either a spherical joint or a planar
connector.

DampingTerm 
Cost term that inhibits how quickly excitation values change

DynamicRegularizationTerm 
Extension of the L2RegularisationTerm that computes different weights
for each of the excitation sources, based on how well they contribute
to the desired motion.

ExcitationResponse 
Computes the linearized velocity and constraint force response for each of
the excitations computed by the controller.

ExciterComp 
Wrapper component used to store the excitation components used by the
inverse solver.

ForceEffectorTarget 
Contains information a single force effector target for the
ForceMinimizationTerm.

ForceEffectorTerm 
Cost term that controls the forces of one or more force effectors.

ForceTarget 
Contains information about a single body connector whose constraint forces
are to be controlled using the ForceTargetTerm.

ForceTargetTerm 
Cost term that minimizes the tracking error for the constraint forces of one
or more rigid body connectors.

FrameExciter  
InverseManager 
Helper class for creating probes and a control panel for use with a
TrackingController.

InverseManager.InverseControlPanel  
L2RegularizationTerm 
Cost term that minimizes the 2norm of the computed excitations.

L2RegularizationTermForDeltas 
Cost term proportional to the sum of the excitation values.

LeastSquaresTermBase 
Base implementation for a LeastSquaresTermBase.

MotionTargetTerm 
Cost term that minimizes the tracking error for one or more motion targets.

NonuniformBoundsTerm 
Constraint term to bound the excitation values generated by the controller,
using explicitly set upper and lower bounds.

PointExciter  
ProportionalTerm 
Cost term that is proportional to the sum of the excitation values.

QPConstraintTermBase 
Base implementation for a QPConstraintTerm.

QPCostTermBase 
Base implementation for a QPCostTerm.

QPSolver 
Solves a quadratic program given a set of cost and constraint terms.

QPTermBase 
Base implementation for a QPTerm

SourceFrameReference 
Special reference component for source frames that also returns the
associated target frame as a hard reference.

SourcePointReference 
Special reference component for source points that also returns the
associated target point as a hard reference.

SphericalJointForceBound 
Applies a bound to the constraint forces of spherical joints.

StabilityTerm 
Cost term that maximizes the stabilty of a mechanical system.

TargetFrame 
A specialized Frame class used to store and render the target pose for
frames being tracked by the tracking controller.

TargetPoint 
A specialized Point class used to store and render the target position for
points being tracked by the tracking controller.

TrackingController 
Inverse controller for computing muscle activations based on
a set of motion and force trajectories, along with with other constraints.

Enum  Description 

DynamicRegularizationTerm.Mapping  
FrameExciter.WrenchComponent  
InverseManager.ProbeID 
Identifiers for the probes created by this InverseManager

PointExciter.PointForceComponent  
QPTerm.Type  
StabilityTerm.StiffnessType 