artisynth.core.inverse

Class ForceEffectorTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.LeastSquaresTermBase

artisynth.core.inverse.ForceEffectorTerm

All Implemented Interfaces:

LeastSquaresTerm, QPConstraintTerm, QPCostTerm, QPTerm, ComponentChangeListener, CompositeComponent, IndexedComponentList, ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class ForceEffectorTerm
extends LeastSquaresTermBase

Cost term that controls the forces of one or more force effectors. Can also be employed as a constraint term.

Author:

John E. Lloyd, Ian Stavness, Antonio Sanchez

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

Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent

CompositeComponent.NavpanelDisplay

Field Summary

Fields

Modifier and Type	Field and Description
boolean	debugHf
VectorNd	myForceError
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
ForceEffectorTerm()
ForceEffectorTerm(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
ForceEffectorTarget	addForce(ForceTargetComponent fcomp) Adds a force component whose force should be controlled
ForceEffectorTarget	addForce(ForceTargetComponent fcomp, double weight) Adds a force component whose force should be controlled
ForceEffectorTarget	addForce(ForceTargetComponent fcomp, double weight, boolean staticOnly) Adds a force component whose force should be controlled
ForceEffectorTarget	addForce(ForceTargetComponent fcomp, VectorNd weights, boolean staticOnly) Adds a force component whose force should be controlled
void	clearTargets() Removes targets
void	connectToHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent).
void	disconnectFromHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent).
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
VectorNd	getB()
void	getForceError(VectorNd totalForce)
java.util.ArrayList<ForceTargetComponent>	getForces() Returns list of target points/frames
MatrixNd	getH()
void	getQP(MatrixNd Q, VectorNd p, double t0, double t1) Adds the contribution of this term to the quadratic cost components Q and p.
VectorNd	getTargetWeights(int idx) Returns target weights, one per force.
int	getTerm(MatrixNd A, VectorNd b, int rowoff, double t0, double t1) Fills H and b with this motion term
boolean	isStaticOnly()
int	numConstraints(int qpsize) Returns the number of constraints associated with this term.
void	setTargetWeights(int idx, double weight) Sets overall weight for a force component.
void	setTargetWeights(int idx, VectorNd weights) Sets weights for a force component.
void	setWeight(double w) Weight used to scale the contribution of this term in the quadratic optimization problem
void	updateHb(TrackingController controller, double t0, double t1)

Methods inherited from class artisynth.core.inverse.LeastSquaresTermBase

componentChanged, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, getType, hasChildren, hierarchyContainsReferences, indexOf, iterator, numComponents, postscan, scan, setDisplayMode, setType, updateNameMap

Methods inherited from class artisynth.core.inverse.QPTermBase

getController, getProperty, getWeight, isEnabled, isInternal, setEnabled, setInternal

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, copy, createTempFlag, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, 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

Methods inherited from interface artisynth.core.modelbase.ModelComponent

getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

debugHf

public boolean debugHf

myForceError

public VectorNd myForceError

myProps

public static PropertyList myProps

Constructor Detail

ForceEffectorTerm

public ForceEffectorTerm()

ForceEffectorTerm

public ForceEffectorTerm(java.lang.String name)

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

getForceError

public void getForceError(VectorNd totalForce)

addForce

public ForceEffectorTarget addForce(ForceTargetComponent fcomp,
                                    double weight,
                                    boolean staticOnly)

Adds a force component whose force should be controlled

Parameters:

fcomp - force component

weight - used for the component

staticOnly - true if only static forces should be controlled

Returns:

ForceEffectorTarget for managing the target forces

addForce

public ForceEffectorTarget addForce(ForceTargetComponent fcomp,
                                    double weight)

Adds a force component whose force should be controlled

Parameters:

fcomp - force component

weight - used for the component

Returns:

ForceEffectorTarget for managing the target forces

addForce

public ForceEffectorTarget addForce(ForceTargetComponent fcomp)

Adds a force component whose force should be controlled

Parameters:

fcomp - force component

Returns:

ForceEffectorTarget for managing the target forces

addForce

public ForceEffectorTarget addForce(ForceTargetComponent fcomp,
                                    VectorNd weights,
                                    boolean staticOnly)

Adds a force component whose force should be controlled

Parameters:

fcomp - force component

weights - used for the component

staticOnly - true if only static forces should be controlled

Returns:

ForceEffectorTarget for managing the target forces

clearTargets

public void clearTargets()

Removes targets

getForces

public java.util.ArrayList<ForceTargetComponent> getForces()

Returns list of target points/frames

isStaticOnly

public boolean isStaticOnly()

getTerm

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

Fills H and b with this motion term

Parameters:

A - LHS matrix to fill

b - RHS vector to fill

rowoff - row offset to start filling term

t0 - starting time of time step

t1 - ending time of time step

Returns:

next row offset

updateHb

public void updateHb(TrackingController controller,
                     double t0,
                     double t1)

getH

public MatrixNd getH()

getB

public VectorNd getB()

setWeight

public void setWeight(double w)

Weight used to scale the contribution of this term in the quadratic optimization problem

Specified by:

setWeight in interface QPTerm

Overrides:

setWeight in class QPTermBase

Parameters:

w - weight for the term

setTargetWeights

public void setTargetWeights(int idx,
                             VectorNd weights)

Sets weights for a force component. This allows you to weight more heavily the forces you deem to be more important.

Parameters:

idx - force component index

weights - vector of weights

setTargetWeights

public void setTargetWeights(int idx,
                             double weight)

Sets overall weight for a force component. This allows you to weight more heavily the forces you deem to be more important.

Parameters:

idx - force component index

weight - weight factor

getTargetWeights

public VectorNd getTargetWeights(int idx)

Returns target weights, one per force. Used by properties so can be get/set through interface

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

numConstraints

public int numConstraints(int qpsize)

Description copied from interface: QPConstraintTerm

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,

connectToHierarchy

public void connectToHierarchy(CompositeComponent hcomp)

Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent). This method is responsible for doing any required hierarchy-dependent initialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component to which this component, or its ancestor, was attached

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent hcomp)

Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent). This method is responsible for any required hierarchy-dependent deinitialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component from which this component, or its ancestor, was detached