artisynth.core.inverse

Class NonuniformBoundsTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPConstraintTermBase

artisynth.core.inverse.NonuniformBoundsTerm

All Implemented Interfaces:

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

public class NonuniformBoundsTerm
extends QPConstraintTermBase

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

Author:

Teun, Ian

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

Field Summary

Fields inherited from class artisynth.core.inverse.QPTermBase

DEFAULT_ENABLED, DEFAULT_WEIGHT, myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Constructor Summary

Constructors

Constructor and Description
NonuniformBoundsTerm()

Method Summary

Modifier and Type	Method and Description
void	clearBounds()
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.
void	setBounds(VectorNd lowerBound, VectorNd upperBound)
void	setLowerBound(VectorNd lowerBound)
void	setUpperBound(VectorNd upperBound)

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

Constructor Detail

NonuniformBoundsTerm

public NonuniformBoundsTerm()

Method Detail

setLowerBound

public void setLowerBound(VectorNd lowerBound)

setUpperBound

public void setUpperBound(VectorNd upperBound)

setBounds

public void setBounds(VectorNd lowerBound,
                      VectorNd upperBound)

clearBounds

public void clearBounds()

getTerm

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

Description copied from interface: QPConstraintTerm

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

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,