| Interface | Description |
|---|---|
| LeastSquaresTerm |
Defines a QPTerm that can be both a cost and a constraint term.
|
| QPConstraintTerm |
QPTerm that adds to either the inequality or equality constraints of
a quadratic program.
|
| QPCostTerm |
QPTerm that adds to the cost components Q and p of a quadratic program
that minimizes
|
| QPTerm |
Base interface for the different terms used by the QP solver in the tracking
controller.
|
| Class | Description |
|---|---|
| BoundsTerm |
Constraint term to bound excitation values, using bounds specified by the
ExciterComps stored in the controller.
|
| ConnectorBoundsRenderer |
Monitor that renders the bounds for a spherical joint, as specified by a
SphericalJointForceBound.
|
| ConnectorForceRenderer |
Monitor that renders the force for either a spherical joint or a planar
connector.
|
| DampingTerm |
Cost term that inhibits how quickly excitation values change
|
| DynamicRegularizationTerm |
Extension of the L2RegularisationTerm that computes different weights
for each of the excitation sources, based on how well they contribute
to the desired motion.
|
| ExcitationResponse |
Computes the linearized velocity and constraint force response for each of
the excitations computed by the controller.
|
| ExciterComp |
Wrapper component used to store the excitation components used by the
inverse solver.
|
| ForceEffectorTarget |
Contains information a single force effector target for the
ForceMinimizationTerm.
|
| ForceEffectorTerm |
Cost term that controls the forces of one or more force effectors.
|
| ForceTarget |
Contains information about a single body connector whose constraint forces
are to be controlled using the ForceTargetTerm.
|
| ForceTargetTerm |
Cost term that minimizes the tracking error for the constraint forces of one
or more rigid body connectors.
|
| FrameExciter | |
| InverseManager |
Helper class for creating probes and a control panel for use with a
TrackingController.
|
| InverseManager.InverseControlPanel | |
| L2RegularizationTerm |
Cost term that minimizes the 2-norm of the computed excitations.
|
| L2RegularizationTermForDeltas |
Cost term proportional to the sum of the excitation values.
|
| LeastSquaresTermBase |
Base implementation for a LeastSquaresTermBase.
|
| MotionTargetTerm |
Cost term that minimizes the tracking error for one or more motion targets.
|
| NonuniformBoundsTerm |
Constraint term to bound the excitation values generated by the controller,
using explicitly set upper and lower bounds.
|
| PointExciter | |
| ProportionalTerm |
Cost term that is proportional to the sum of the excitation values.
|
| QPConstraintTermBase |
Base implementation for a QPConstraintTerm.
|
| QPCostTermBase |
Base implementation for a QPCostTerm.
|
| QPSolver |
Solves a quadratic program given a set of cost and constraint terms.
|
| QPTermBase |
Base implementation for a QPTerm
|
| SourceFrameReference |
Special reference component for source frames that also returns the
associated target frame as a hard reference.
|
| SourcePointReference |
Special reference component for source points that also returns the
associated target point as a hard reference.
|
| SphericalJointForceBound |
Applies a bound to the constraint forces of spherical joints.
|
| StabilityTerm |
Cost term that maximizes the stabilty of a mechanical system.
|
| TargetFrame |
A specialized Frame class used to store and render the target pose for
frames being tracked by the tracking controller.
|
| TargetPoint |
A specialized Point class used to store and render the target position for
points being tracked by the tracking controller.
|
| TrackingController |
Inverse controller for computing muscle activations based on
a set of motion and force trajectories, along with with other constraints.
|
| Enum | Description |
|---|---|
| DynamicRegularizationTerm.Mapping | |
| FrameExciter.WrenchComponent | |
| InverseManager.ProbeID |
Identifiers for the probes created by this InverseManager
|
| PointExciter.PointForceComponent | |
| QPTerm.Type | |
| StabilityTerm.StiffnessType |