artisynth.core.inverse

Class FrameExciter

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.FrameExciter

All Implemented Interfaces:

ExcitationComponent, ForceComponent, ForceEffector, RequiresInitialize, ModelComponent, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class FrameExciter
extends ModelComponentBase
implements ExcitationComponent, ForceComponent

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	FrameExciter.WrenchComponent

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.ExcitationComponent

ExcitationComponent.CombinationRule

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Constructor Summary

Constructors

Constructor and Description
FrameExciter()
FrameExciter(java.lang.String name)
FrameExciter(java.lang.String name, Frame body, FrameExciter.WrenchComponent comp, double maxForce)

Method Summary

Modifier and Type	Method and Description
void	addExcitationSource(ExcitationComponent ex) Adds a new excitation source to this Excitable, with an assumed gain of 1.
void	addExcitationSource(ExcitationComponent ex, double gain) Adds a new excitation source to this Excitable with a specified gain.
static FrameExciter[]	addFrameExciters(MechModel mech, Frame frame, boolean[] enabled, double[] maxForces) Adds frame exciters for up to 6 components of a wrench on a frame.
static FrameExciter[]	addFrameExciters(MechModel mech, Frame frame, double maxForce)
static FrameExciter[]	addLinearFrameExciters(MechModel mech, Frame frame, double maxForce)
void	addPosJacobian(SparseNumberedBlockMatrix M, double s) Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
void	addSolveBlocks(SparseNumberedBlockMatrix M) Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
void	addVelJacobian(SparseNumberedBlockMatrix M, double s) Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
void	applyForces(double t) Adds forces to the components affected by this force effector at a particular time.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
ExcitationComponent.CombinationRule	getCombinationRule() Return the combination rule for excitations.
double	getDefaultActivationWeight() Returns the default weight that should be used when this excitation component is being used for inverse actuation control.
double	getExcitation() Returns the primary excitation for this component.
double	getExcitationGain(ExcitationComponent ex) Gets the gain for an excitation source in this component.
int	getJacobianType() Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix.
double	getMaxForce()
double	getNetExcitation() Returns the net excitation for this Excitable.
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
void	initialize(double t) Called from within the model's initialize() method.
boolean	removeExcitationSource(ExcitationComponent ex) Removes an excitation source from this Excitable.
void	setCombinationRule(ExcitationComponent.CombinationRule rule) Sets the rule for combining excitations.
void	setExcitation(double e) Sets the primary excitation for this component.
boolean	setExcitationGain(ExcitationComponent ex, double gain) Sets the gain for an excitation source in this component.
void	setMaxForce(double maxForce)
void	updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo) May be called by the system if any of the soft references for this component are removed from the the component hierarchy.

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, getProperty, hasChildren, hasState, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FrameExciter

public FrameExciter(java.lang.String name,
                    Frame body,
                    FrameExciter.WrenchComponent comp,
                    double maxForce)

FrameExciter

public FrameExciter(java.lang.String name)

FrameExciter

public FrameExciter()

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 ModelComponentBase

Returns:

static information for all exported properties

setCombinationRule

public void setCombinationRule(ExcitationComponent.CombinationRule rule)

Description copied from interface: ExcitationComponent

Sets the rule for combining excitations.

Specified by:

setCombinationRule in interface ExcitationComponent

Parameters:

rule - rule for combining excitations

getCombinationRule

public ExcitationComponent.CombinationRule getCombinationRule()

Description copied from interface: ExcitationComponent

Return the combination rule for excitations.

Specified by:

getCombinationRule in interface ExcitationComponent

Returns:

combination rule for excitations

initialize

public void initialize(double t)

Called from within the model's initialize() method.

Specified by:

initialize in interface RequiresInitialize

Parameters:

t - initialization time (seconds)

setExcitation

public void setExcitation(double e)

Description copied from interface: ExcitationComponent

Sets the primary excitation for this component.

Specified by:

setExcitation in interface ExcitationComponent

Parameters:

e - excitation value

getExcitation

public double getExcitation()

Description copied from interface: ExcitationComponent

Returns the primary excitation for this component.

Specified by:

getExcitation in interface ExcitationComponent

Returns:

primary excitation value

addExcitationSource

public void addExcitationSource(ExcitationComponent ex)

Adds a new excitation source to this Excitable, with an assumed gain of 1.

Specified by:

addExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be added

addExcitationSource

public void addExcitationSource(ExcitationComponent ex,
                                double gain)

Adds a new excitation source to this Excitable with a specified gain.

Specified by:

addExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be added

gain - gain for the source

removeExcitationSource

public boolean removeExcitationSource(ExcitationComponent ex)

Removes an excitation source from this Excitable. Returns false if the source was not present.

Specified by:

removeExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be removed

Returns:

true if the source was present and removed

getExcitationGain

public double getExcitationGain(ExcitationComponent ex)

Gets the gain for an excitation source in this component.

Specified by:

getExcitationGain in interface ExcitationComponent

Parameters:

ex - excitatation source whose gain is to be queried

Returns:

source gain value, or -1 if the source is not present in this component.

setExcitationGain

public boolean setExcitationGain(ExcitationComponent ex,
                                 double gain)

Sets the gain for an excitation source in this component.

Specified by:

setExcitationGain in interface ExcitationComponent

Parameters:

ex - excitatation source whose gain is to be modified

gain - new gain for the source

Returns:

false if the source is not present in this component.

getNetExcitation

public double getNetExcitation()

Returns the net excitation for this Excitable. The net excitation is the combination of the primary excitation and the net excitations of all the excitation sources.

Specified by:

getNetExcitation in interface ExcitationComponent

Returns:

net excitation for this Excitable

getSoftReferences

public void getSoftReferences(java.util.List<ModelComponent> refs)

Appends all soft references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an ExcitationComponent may refer to one or more other ExcitationComponents to act as excitation sources. A soft reference is one which can be removed from the referring component. In particular, if any soft references for a component are deleted, then that component's updateReferences() method will be called to update its internal reference information.

Specified by:

getSoftReferences in interface ModelComponent

Overrides:

getSoftReferences in class ModelComponentBase

Parameters:

refs - list to which soft references are appended

updateReferences

public void updateReferences(boolean undo,
                             java.util.Deque<java.lang.Object> undoInfo)

May be called by the system if any of the soft references for this component are removed from the the component hierarchy. If called with undo equal to false, this component should then examine its soft references and use ComponentUtils.isConnected() to determine which of them have been disconnected from the hierarchy. Disconnected references should be removed, and sufficient information should be appended to undoInfo to allow this update to be undone if this method is called later with undo equal to true. When undoing an update, the undo information should be removed from the front of undoInfo.

Specified by:

updateReferences in interface ModelComponent

Overrides:

updateReferences in class ModelComponentBase

Parameters:

undo - if true, indicates that the most recent reference update should be undone, using the supplied undo information.

undoInfo - if undo is false, should be used to store information allowing the reference update to be undone. Otherwise, if undo is true, then this supplied information to undo the most recent update.

getDefaultActivationWeight

public double getDefaultActivationWeight()

Description copied from interface: ExcitationComponent

Returns the default weight that should be used when this excitation component is being used for inverse actuation control.

Specified by:

getDefaultActivationWeight in interface ExcitationComponent

Returns:

default weight for inverse actuation control

getMaxForce

public double getMaxForce()

setMaxForce

public void setMaxForce(double maxForce)

applyForces

public void applyForces(double t)

Description copied from interface: ForceEffector

Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.

Specified by:

applyForces in interface ForceEffector

Parameters:

t - time (seconds)

addSolveBlocks

public void addSolveBlocks(SparseNumberedBlockMatrix M)

Description copied from interface: ForceEffector

Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. In general, blocks will be need to be added at locations given by the block indices (bi, bj), where bi and bj correspond to the solve indices (as returned by getSolveIndex) for all dynamic or attached components affected by this force effector.

Specified by:

addSolveBlocks in interface ForceEffector

Parameters:

M - solve matrix to which blocks should be added

addPosJacobian

public void addPosJacobian(SparseNumberedBlockMatrix M,
                           double s)

Description copied from interface: ForceEffector

Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.

M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.

Specified by:

addPosJacobian in interface ForceEffector

Parameters:

M - solve matrix to which scaled position Jacobian is to be added

s - scaling factor for position Jacobian

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double s)

Description copied from interface: ForceEffector

Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.

M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.

Specified by:

addVelJacobian in interface ForceEffector

Parameters:

M - solve matrix to which scaled velocity Jacobian is to be added

s - scaling factor for velocity Jacobian

getJacobianType

public int getJacobianType()

Description copied from interface: ForceEffector

Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.

Specified by:

getJacobianType in interface ForceEffector

Returns:

solve matrix type resulting from adding Jacobian terms

addFrameExciters

public static FrameExciter[] addFrameExciters(MechModel mech,
                                              Frame frame,
                                              double maxForce)

addFrameExciters

public static FrameExciter[] addFrameExciters(MechModel mech,
                                              Frame frame,
                                              boolean[] enabled,
                                              double[] maxForces)

Adds frame exciters for up to 6 components of a wrench on a frame. Each component can have its own maximum force and is only added if desired.

Parameters:

mech - the MechModel

frame - the frame on which the wrench is applied

enabled - array[6] indicating which of the 6 components should be added

maxForces - array[6] indicating the max force for each component (value does not matter for unused components)

Returns:

an array containing only the active frame exciters

addLinearFrameExciters

public static FrameExciter[] addLinearFrameExciters(MechModel mech,
                                                    Frame frame,
                                                    double maxForce)