artisynth.core.inverse

Class DynamicRegularizationTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.DynamicRegularizationTerm

All Implemented Interfaces:

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

public class DynamicRegularizationTerm
extends QPCostTermBase

Extension of the L2RegularisationTerm that computes different weights for each of the excitation sources, based on how well they contribute to the desired motion. The weights are recomputed for every call to getQP, i.e. every time the tracking controller's apply is called.

Since:

2014-10-07

Author:

Teun Bartelds

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DynamicRegularizationTerm.Mapping

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 double	defaultWeight
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
DynamicRegularizationTerm()
DynamicRegularizationTerm(double weight)

Method Summary

Modifier and Type	Method and Description
VectorNd	computeWeights(TrackingController controller, double dt)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
boolean	getIsDynamic()
boolean	getIsNormalized()
DynamicRegularizationTerm.Mapping	getMapping()
double	getParam()
void	getQP(MatrixNd Q, VectorNd p, double t0, double t1) Adds the contribution of this term to the quadratic cost components Q and p.
double	getSigmoidMean()
void	setIsDynamic(boolean enabled)
void	setIsNormalized(boolean normalized)
void	setMapping(DynamicRegularizationTerm.Mapping m)
void	setParam(double parameter)
void	setSigmoidMean(double mean)

Methods inherited from class artisynth.core.inverse.QPCostTermBase

getType

Methods inherited from class artisynth.core.inverse.QPTermBase

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

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

myProps

public static PropertyList myProps

Constructor Detail

DynamicRegularizationTerm

public DynamicRegularizationTerm()

DynamicRegularizationTerm

public DynamicRegularizationTerm(double weight)

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from class: QPTermBase

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class QPTermBase

Returns:

static information for all exported properties

computeWeights

public VectorNd computeWeights(TrackingController controller,
                               double dt)

setIsDynamic

public void setIsDynamic(boolean enabled)

getIsDynamic

public boolean getIsDynamic()

setIsNormalized

public void setIsNormalized(boolean normalized)

getIsNormalized

public boolean getIsNormalized()

setParam

public void setParam(double parameter)

getParam

public double getParam()

setSigmoidMean

public void setSigmoidMean(double mean)

getSigmoidMean

public double getSigmoidMean()

setMapping

public void setMapping(DynamicRegularizationTerm.Mapping m)

getMapping

public DynamicRegularizationTerm.Mapping getMapping()

getQP

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

Description copied from interface: QPCostTerm

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