artisynth.core.inverse

Class ForceTargetTerm

java.lang.Object

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.LeastSquaresTermBase

artisynth.core.inverse.ForceTargetTerm

All Implemented Interfaces:

LeastSquaresTerm, QPTerm, HasProperties

public class ForceTargetTerm
extends LeastSquaresTermBase

Reaction force error term for the TrackingController

Author:

Ian Stavness, Benedikt Sagl TODO Fix the jacobian TODO See if a similar issue exists for frame-based tracking

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	DEFAULT_NORMALIZE_H
static double	DEFAULT_WEIGHT
static PropertyList	myProps

Fields inherited from class artisynth.core.inverse.LeastSquaresTermBase

DEFAULT_ENABLED, defaultWeight

Constructor Summary

Constructors

Constructor and Description
ForceTargetTerm(TrackingController controller)
ForceTargetTerm(TrackingController controller, double weight)

Method Summary

Modifier and Type	Method and Description
ForceTarget	addForceTarget(BodyConnector con) Adds a target to track the reaction force of the specified body connector
ForceTarget	addForceTarget(BodyConnector con, double weight) Adds a target to track the reaction force of the specified body connector
ForceTarget	addForceTarget(BodyConnector con, VectorNd targetLambda) Adds a target to track the reaction force of the specified body connector
ForceTarget	addForceTarget(BodyConnector con, VectorNd targetLambda, double weight) Adds a target to track the reaction force of the specified body connector
void	clearTargets() Removes all force targets
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
SparseBlockMatrix	getForceJacobian() XXX This Jacobian needs to be re-computed at each time step OR it needs to be transformed to global co-ordinates so that the tracking controller can use it properly, since it does not change as the model moves
java.util.ArrayList<ForceTarget>	getForceTargets()
boolean	getNormalizeH() Returns whether or not we're normalizing this term's contribution to H and b.
int	getRowSize() Returns the number of rows.
VectorNd	getTargetWeights()
void	getTargetWeights(VectorNd out)
int	getTerm(MatrixNd H, VectorNd b, int rowoff, double t0, double t1) Fills H and b with this motion term
boolean	isEnabled() Returns that enabled status of this term, for use if term is an inequality / equality constraint
void	setEnabled(boolean enabled)
void	setNormalizeH(boolean enable) Sets whether or not to normalize the contribution to H and b by the Frobenius norm of this term's H block.
void	setTargetWeights(VectorNd wgts)
void	setWeight(double w) Weight used to scale the contribution of this term in the quadratic optimization problem
void	updateTargetForce(double t0, double t1)

Methods inherited from class artisynth.core.inverse.LeastSquaresTermBase

addRows, getQP, setSize

Methods inherited from class artisynth.core.inverse.QPTermBase

dispose, getProperty, getSize, getWeight

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.inverse.QPTerm

dispose, getSize

Methods inherited from interface maspack.properties.HasProperties

getProperty

Field Detail

DEFAULT_WEIGHT

public static final double DEFAULT_WEIGHT

See Also:

Constant Field Values

DEFAULT_NORMALIZE_H

public static boolean DEFAULT_NORMALIZE_H

myProps

public static PropertyList myProps

Constructor Detail

ForceTargetTerm

public ForceTargetTerm(TrackingController controller)

ForceTargetTerm

public ForceTargetTerm(TrackingController controller,
                       double weight)

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from interface: HasProperties

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class LeastSquaresTermBase

Returns:

static information for all exported properties

updateTargetForce

public void updateTargetForce(double t0,
                              double t1)

isEnabled

public boolean isEnabled()

Description copied from interface: LeastSquaresTerm

Returns that enabled status of this term, for use if term is an inequality / equality constraint

Specified by:

isEnabled in interface LeastSquaresTerm

Overrides:

isEnabled in class LeastSquaresTermBase

Returns:

is this term enabled

setEnabled

public void setEnabled(boolean enabled)

Overrides:

setEnabled in class LeastSquaresTermBase

getForceJacobian

public SparseBlockMatrix getForceJacobian()

XXX This Jacobian needs to be re-computed at each time step OR it needs to be transformed to global co-ordinates so that the tracking controller can use it properly, since it does not change as the model moves

addForceTarget

public ForceTarget addForceTarget(BodyConnector con)

Adds a target to track the reaction force of the specified body connector

Parameters:

con - body connector to track

Returns:

the component used to keep track of this force target

addForceTarget

public ForceTarget addForceTarget(BodyConnector con,
                                  double weight)

Adds a target to track the reaction force of the specified body connector

Parameters:

con - body connector to track

weight - used in error tracking

Returns:

the component used to keep track of this force target

addForceTarget

public ForceTarget addForceTarget(BodyConnector con,
                                  VectorNd targetLambda)

Adds a target to track the reaction force of the specified body connector

Parameters:

con - body connector to track

targetLambda - target reaction force for the connector

Returns:

the component used to keep track of this force target

addForceTarget

public ForceTarget addForceTarget(BodyConnector con,
                                  VectorNd targetLambda,
                                  double weight)

Adds a target to track the reaction force of the specified body connector

Parameters:

con - body connector to track

targetLambda - target reaction force for the connector

weight - used in error tracking

Returns:

the component used to keep track of this force target

clearTargets

public void clearTargets()

Removes all force targets

getTerm

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

Fills H and b with this motion term

Specified by:

getTerm in interface LeastSquaresTerm

Overrides:

getTerm in class LeastSquaresTermBase

Parameters:

H - 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

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

setTargetWeights

public void setTargetWeights(VectorNd wgts)

getTargetWeights

public void getTargetWeights(VectorNd out)

getTargetWeights

public VectorNd getTargetWeights()

setNormalizeH

public void setNormalizeH(boolean enable)

Sets whether or not to normalize the contribution to H and b by the Frobenius norm of this term's H block. This is for scaling purposes when damping is important. If set to false, then the damping term's scale will depend on the time and spatial scales. However, if set to true, we will likely scale this term differently every time step.

Parameters:

enable - if true, enables normalization

getNormalizeH

public boolean getNormalizeH()

Returns whether or not we're normalizing this term's contribution to H and b. See setNormalizeH(boolean)

Returns:

true if we're normalizing this term's contribution to H and b

getRowSize

public int getRowSize()

Description copied from interface: LeastSquaresTerm

Returns the number of rows. Note that the number of columns is constrained by the QP-problem and can be queried using getSize().

Returns:

number of rows of the least squares problem

getForceTargets

public java.util.ArrayList<ForceTarget> getForceTargets()