artisynth.core.inverse

Class StabilityTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.LeastSquaresTermBase

artisynth.core.inverse.StabilityTerm

All Implemented Interfaces:

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

public class StabilityTerm
extends LeastSquaresTermBase

Cost term that maximizes the stabilty of a mechanical system. Can also be employed as a constraint term.

Author:

John E Lloyd

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	StabilityTerm.StiffnessType

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
static boolean	DEFAULT_IGNORE_POSITION
static StabilityTerm.StiffnessType	DEFAULT_STIFFNESS_TYPE
static boolean	DEFAULT_USE_SYMMETRIC_PART
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
StabilityTerm()

Method Summary

Modifier and Type	Method and Description
void	addStiffnessModifier(SolveMatrixModifier modifier)
void	clearStiffnessModifiers()
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
VectorNd	getB()
double	getDet()
double	getDetTarget()
MatrixNd	getH()
boolean	getIgnorePosition()
void	getQP(MatrixNd Q, VectorNd p, double t0, double t1) Adds the contribution of this term to the quadratic cost components Q and p.
static Matrix	getStiffnessMatrix(MechSystemBase mech, StabilityTerm.StiffnessType type, java.util.ArrayList<SolveMatrixModifier> modifiers) Returns the negated stiffness matrix, determined from the MechSystem according to the stiffness type and the modifiers (if any).
SolveMatrixModifier	getStiffnessModifier(int idx)
StabilityTerm.StiffnessType	getStiffnessType()
int	getTerm(MatrixNd A, VectorNd b, int rowoff, double t0, double t1) Fills H and b with this motion term
boolean	getUseSymmetricPart()
int	numConstraints(int qpsize) Returns the number of constraints associated with this term.
int	numStiffnessModifiers()
boolean	removeStiffnessModifier(SolveMatrixModifier modifier)
void	setDetTarget(double target)
void	setIgnorePosition(boolean ignore)
void	setStiffnessType(StabilityTerm.StiffnessType type)
void	setUseSymmetricPart(boolean enable)
void	setWeight(double w) Weight used to scale the contribution of this term in the quadratic optimization problem
void	updateHs(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, connectToHierarchy, copy, createTempFlag, disconnectFromHierarchy, 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

connectToHierarchy, disconnectFromHierarchy, 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

DEFAULT_USE_SYMMETRIC_PART

public static final boolean DEFAULT_USE_SYMMETRIC_PART

See Also:

Constant Field Values

DEFAULT_STIFFNESS_TYPE

public static final StabilityTerm.StiffnessType DEFAULT_STIFFNESS_TYPE

DEFAULT_IGNORE_POSITION

public static final boolean DEFAULT_IGNORE_POSITION

See Also:

Constant Field Values

myProps

public static PropertyList myProps

Constructor Detail

StabilityTerm

public StabilityTerm()

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

getDet

public double getDet()

getDetTarget

public double getDetTarget()

setDetTarget

public void setDetTarget(double target)

getIgnorePosition

public boolean getIgnorePosition()

setIgnorePosition

public void setIgnorePosition(boolean ignore)

addStiffnessModifier

public void addStiffnessModifier(SolveMatrixModifier modifier)

removeStiffnessModifier

public boolean removeStiffnessModifier(SolveMatrixModifier modifier)

clearStiffnessModifiers

public void clearStiffnessModifiers()

getStiffnessModifier

public SolveMatrixModifier getStiffnessModifier(int idx)

numStiffnessModifiers

public int numStiffnessModifiers()

getUseSymmetricPart

public boolean getUseSymmetricPart()

setUseSymmetricPart

public void setUseSymmetricPart(boolean enable)

getStiffnessType

public StabilityTerm.StiffnessType getStiffnessType()

setStiffnessType

public void setStiffnessType(StabilityTerm.StiffnessType type)

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

getStiffnessMatrix

public static Matrix getStiffnessMatrix(MechSystemBase mech,
                                        StabilityTerm.StiffnessType type,
                                        java.util.ArrayList<SolveMatrixModifier> modifiers)

Returns the negated stiffness matrix, determined from the MechSystem according to the stiffness type and the modifiers (if any).

updateHs

public void updateHs(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

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,