artisynth.core.inverse

Class BoundsTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPConstraintTermBase

artisynth.core.inverse.BoundsTerm

All Implemented Interfaces:

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

public class BoundsTerm
extends QPConstraintTermBase

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

Author:

Teun

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.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.inverse.QPTermBase

DEFAULT_ENABLED, DEFAULT_WEIGHT

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
int	getTerm(MatrixNd A, VectorNd b, int rowoff, double t0, double t1) Appends the constraints for this term to the constraint matrix A and offset vector b.
int	numConstraints(int qpsize) Returns the number of constraints associated with this term.

Methods inherited from class artisynth.core.inverse.QPConstraintTermBase

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, connectToHierarchy, copy, createTempFlag, disconnectFromHierarchy, 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

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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

BoundsTerm

public BoundsTerm()

BoundsTerm

public BoundsTerm(java.lang.String name)

Method Detail

numConstraints

public int numConstraints(int qpsize)

Returns the number of constraints associated with this term.

Parameters:

qpsize - size of the quadratic program. For the tracking controller, this is the number of excitation values being used,

getTerm

public int getTerm(MatrixNd A,
                   VectorNd b,
                   int rowoff,
                   double t0,
                   double t1)

Appends the constraints for this term to the constraint matrix A and offset vector b. For inequality constraints, A and b define the constraints

 A x >= b
 

while for equality constraints, they define the constraints

 A x = b.
 

Parameters:

A - quadratic program constraint matrix

b - quadratic program offset vector

rowoff - row offset within A and b where the constraints should be added

t0 - time at start of step

t1 - time at end of step