artisynth.core.inverse

Class ProportionalTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.ProportionalTerm

All Implemented Interfaces:

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

public class ProportionalTerm
extends QPCostTermBase

Cost term that is proportional to the sum of the excitation values. In combination with a lower bound of zero, this term adds a cost on the L1-norm.

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.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static double	defaultWeight

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
ProportionalTerm()
ProportionalTerm(double weight)

Method Summary

Modifier and Type	Method and Description
void	getQP(MatrixNd Q, VectorNd p, double t0, double t1) Adds the contribution of this term to the quadratic cost components Q and p.

Methods inherited from class artisynth.core.inverse.QPCostTermBase

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

defaultWeight

public static final double defaultWeight

See Also:

Constant Field Values

Constructor Detail

ProportionalTerm

public ProportionalTerm()

ProportionalTerm

public ProportionalTerm(double weight)

Method Detail

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