Defines a QPTerm that can be both a cost and a constraint term.
QPTerm that adds to either the inequality or equality constraints of a quadratic program.
QPTerm that adds to the cost components Q and p of a quadratic program that minimizes
Base interface for the different terms used by the QP solver in the tracking controller.
Constraint term to bound excitation values, using bounds specified by the ExciterComps stored in the controller.
Monitor that renders the bounds for a spherical joint, as specified by a SphericalJointForceBound.
Monitor that renders the force for either a spherical joint or a planar connector.
Cost term that inhibits how quickly excitation values change
Extension of the L2RegularisationTerm that computes different weights for each of the excitation sources, based on how well they contribute to the desired motion.
Computes the linearized velocity and constraint force response for each of the excitations computed by the controller.
Wrapper component used to store the excitation components used by the inverse solver.
Contains information a single force effector target for the ForceMinimizationTerm.
Cost term that controls the forces of one or more force effectors.
Contains information about a single body connector whose constraint forces are to be controlled using the ForceTargetTerm.
Cost term that minimizes the tracking error for the constraint forces of one or more rigid body connectors.
Helper class for creating probes and a control panel for use with a TrackingController.
Cost term that minimizes the 2-norm of the computed excitations.
Cost term proportional to the sum of the excitation values.
Base implementation for a LeastSquaresTermBase.
Cost term that minimizes the tracking error for one or more motion targets.
Constraint term to bound the excitation values generated by the controller, using explicitly set upper and lower bounds.
Cost term that is proportional to the sum of the excitation values.
Base implementation for a QPConstraintTerm.
Base implementation for a QPCostTerm.
Solves a quadratic program given a set of cost and constraint terms.
Base implementation for a QPTerm
Special reference component for source frames that also returns the associated target frame as a hard reference.
Special reference component for source points that also returns the associated target point as a hard reference.
Applies a bound to the constraint forces of spherical joints.
Cost term that maximizes the stabilty of a mechanical system.
A specialized Frame class used to store and render the target pose for frames being tracked by the tracking controller.
A specialized Point class used to store and render the target position for points being tracked by the tracking controller.
Inverse controller for computing muscle activations based on a set of motion and force trajectories, along with with other constraints.
Identifiers for the probes created by this InverseManager