MotionTargetTerm (Artisynth API documentation)

java.lang.Object
- artisynth.core.inverse.QPTermBase
- - artisynth.core.inverse.LeastSquaresTermBase
  - - artisynth.core.inverse.MotionTargetTerm

All Implemented Interfaces:

LeastSquaresTerm, QPTerm, HasProperties
```
public class MotionTargetTerm
extends LeastSquaresTermBase
```
Motion tracking error term for the TrackingController

Author:

Ian Stavness, Antonio Sanchez 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_DELTA_ACTIVATIONS`
`static double`	`DEFAULT_Kd`
`static double`	`DEFAULT_Kp`
`static boolean`	`DEFAULT_NORMALIZE_H`
`static boolean`	`DEFAULT_USE_KKT_FACTORANDSOLVE`
`static boolean`	`DEFAULT_USE_PD_CONTROL`
`static boolean`	`DEFAULT_USE_TIMESTEP_SCALING`
`static boolean`	`DEFAULT_USE_TRAPEZOIDAL_SOLVER`
`static double`	`DEFAULT_WEIGHT`
`static PropertyList`	`myProps`
`VectorNd`	`postionError`
`VectorNd`	`velocityError`

Fields inherited from class artisynth.core.inverse.LeastSquaresTermBase
DEFAULT_ENABLED, defaultWeight

Constructor Summary

Constructors
Constructor and Description

MotionTargetTerm(TrackingController controller)

MotionTargetTerm(TrackingController controller, double weight)

Constructors
Constructor and Description
`MotionTargetTerm(TrackingController controller)`
`MotionTargetTerm(TrackingController controller, double weight)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`MotionTargetComponent`	`addTarget(MotionTargetComponent target)` Adds a target to track
`MotionTargetComponent`	`addTarget(MotionTargetComponent source, double weight)` Adds a target to track
`void`	`clearTargets()` Removes targets
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`VectorNd`	`getCurrentVel()`
`double`	`getDerr()`
`double`	`getKd()` Returns the Derivative gain for PD controller.
`double`	`getKp()` Returns the Proportional gain for PD controller.
`boolean`	`getNormalizeH()` Returns whether or not we're normalizing this term's contribution to `H` and `b`.
`double`	`getPerr()`
`int`	`getRowSize()` Returns the number of rows.
`RenderProps`	`getSourceRenderProps()` Render props for the sources
`java.util.ArrayList<MotionTargetComponent>`	`getSources()` Returns list of source points/frames that are part of the model that will move to the targets
`RenderProps`	`getTargetRenderProps()` Render props for targets
`java.util.ArrayList<MotionTargetComponent>`	`getTargets()` Returns list of target points/frames
`int`	`getTargetVelSize()`
`VectorNd`	`getTargetWeights()` Returns target weights, one per target point.
`void`	`getTargetWeights(VectorNd out)` Gets weights for targets.
`int`	`getTerm(MatrixNd H, VectorNd b, int rowoff, double t0, double t1)` Fills `H` and `b` with this motion term
`boolean`	`getUseKKTFactorAndSolve()`
`boolean`	`getUsePDControl()`
`boolean`	`getUseTimestepScaling()`
`SparseBlockMatrix`	`getVelocityJacobian()` Returns the velocity Jacobian, creates if null 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
`void`	`initSourceRenderProps()`
`void`	`initTargetRenderProps()`
`boolean`	`isEnabled()` Returns that enabled status of this term, for use if term is an inequality / equality constraint
`void`	`reGetTerm(MatrixNd H, VectorNd b)` Fills `H` and `b` with this motion term In contrast to `getTerm`, this method does not recompute the values.
`void`	`setEnabled(boolean enabled)`
`void`	`setKd(double k)` Derivative gain for PD controller
`void`	`setKp(double k)` Proportional gain for PD controller
`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`	`setSourceRenderProps(RenderProps rend)` Sets render props for sources
`void`	`setTargetRenderProps(RenderProps rend)` Sets render props for the target points/frames
`void`	`setTargetWeights(VectorNd wgts)` Sets weights for targets.
`void`	`setUseKKTFactorAndSolve(boolean useKKTFactorAndSolve)`
`void`	`setUsePDControl(boolean usePD)`
`void`	`setUseTimestepScaling(boolean useTimestepScaling)`
`void`	`setWeight(double w)` Weight used to scale the contribution of this term in the quadratic optimization problem
`void`	`updatePositionError()`
`void`	`updateTarget(double t0, double t1)`
`void`	`updateVelocityError()`

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_USE_PD_CONTROL
```
public static final boolean DEFAULT_USE_PD_CONTROL
```
    See Also:
    
    Constant Field Values
  - DEFAULT_DELTA_ACTIVATIONS
```
public static final boolean DEFAULT_DELTA_ACTIVATIONS
```
    See Also:
    
    Constant Field Values
  - DEFAULT_USE_TIMESTEP_SCALING
```
public static boolean DEFAULT_USE_TIMESTEP_SCALING
```
  - DEFAULT_USE_KKT_FACTORANDSOLVE
```
public static boolean DEFAULT_USE_KKT_FACTORANDSOLVE
```
  - DEFAULT_USE_TRAPEZOIDAL_SOLVER
```
public static boolean DEFAULT_USE_TRAPEZOIDAL_SOLVER
```
  - DEFAULT_NORMALIZE_H
```
public static boolean DEFAULT_NORMALIZE_H
```
  - DEFAULT_Kd
```
public static double DEFAULT_Kd
```
  - DEFAULT_Kp
```
public static double DEFAULT_Kp
```
  - myProps
```
public static PropertyList myProps
```
  - postionError
```
public VectorNd postionError
```
  - velocityError
```
public VectorNd velocityError
```
- Constructor Detail
  - MotionTargetTerm
```
public MotionTargetTerm(TrackingController controller)
```
  - MotionTargetTerm
```
public MotionTargetTerm(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
  - updateTarget
```
public void updateTarget(double t0,
                         double t1)
```
  - updatePositionError
```
public void updatePositionError()
```
  - updateVelocityError
```
public void updateVelocityError()
```
  - 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
  - getCurrentVel
```
public VectorNd getCurrentVel()
```
  - initTargetRenderProps
```
public void initTargetRenderProps()
```
  - initSourceRenderProps
```
public void initSourceRenderProps()
```
  - addTarget
```
public MotionTargetComponent addTarget(MotionTargetComponent source,
                                       double weight)
```
    Adds a target to track
    
    Parameters:
    
    source - point or frame on the model you wish to drive to a target position
    
    weight - used in error tracking
    
    Returns:
    
    the created point or frame that will be used as a target
  - addTarget
```
public MotionTargetComponent addTarget(MotionTargetComponent target)
```
    Adds a target to track
    
    Parameters:
    
    target - point or frame on the model you wish to drive to a target position
    
    Returns:
    
    the created point or frame that will be used as a target
  - clearTargets
```
public void clearTargets()
```
    Removes targets
  - getTargets
```
public java.util.ArrayList<MotionTargetComponent> getTargets()
```
    Returns list of target points/frames
  - getSources
```
public java.util.ArrayList<MotionTargetComponent> getSources()
```
    Returns list of source points/frames that are part of the model that will move to the targets
  - getTargetVelSize
```
public int getTargetVelSize()
```
  - getVelocityJacobian
```
public SparseBlockMatrix getVelocityJacobian()
```
    Returns the velocity Jacobian, creates if null 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
  - 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
  - reGetTerm
```
public void reGetTerm(MatrixNd H,
                      VectorNd b)
```
    Fills H and b with this motion term In contrast to getTerm, this method does not recompute the values.
  - 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)
```
    Sets weights for targets. This allows you to weight more heavily the points you deem to be more important. If wgts.size() equals the number of targets, each target will use a single weight. If wgts.size() equals the full size of the target velocity vector, then this directly scales the rows of H (allows you to scale x,y,z components of velocity separately).
    
    Parameters:
    
    wgts - weights vector
  - getTargetWeights
```
public void getTargetWeights(VectorNd out)
```
    Gets weights for targets. If wgts.size() equals the number of targets, returns the set of single weights used per target. If wgts.size() equals the full size of the target velocity vector, then returns the direct scaling vector.
    
    Parameters:
    
    out - weights vector
  - getTargetRenderProps
```
public RenderProps getTargetRenderProps()
```
    Render props for targets
  - getTargetWeights
```
public VectorNd getTargetWeights()
```
    Returns target weights, one per target point. Used by properties so can be get/set through interface
  - setTargetRenderProps
```
public void setTargetRenderProps(RenderProps rend)
```
    Sets render props for the target points/frames
  - getSourceRenderProps
```
public RenderProps getSourceRenderProps()
```
    Render props for the sources
  - setSourceRenderProps
```
public void setSourceRenderProps(RenderProps rend)
```
    Sets render props for sources
  - setKd
```
public void setKd(double k)
```
    Derivative gain for PD controller
  - getKd
```
public double getKd()
```
    Returns the Derivative gain for PD controller. See setKd(double).
    
    Returns:
    
    derivative error gain
  - setKp
```
public void setKp(double k)
```
    Proportional gain for PD controller
  - getKp
```
public double getKp()
```
    Returns the Proportional gain for PD controller. See setKp(double).
    
    Returns:
    
    proportional error gain
  - getPerr
```
public double getPerr()
```
  - getDerr
```
public double getDerr()
```
  - 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
  - getUseKKTFactorAndSolve
```
public boolean getUseKKTFactorAndSolve()
```
  - setUseKKTFactorAndSolve
```
public void setUseKKTFactorAndSolve(boolean useKKTFactorAndSolve)
```
  - getUseTimestepScaling
```
public boolean getUseTimestepScaling()
```
  - setUseTimestepScaling
```
public void setUseTimestepScaling(boolean useTimestepScaling)
```
  - setUsePDControl
```
public void setUsePDControl(boolean usePD)
```
  - getUsePDControl
```
public boolean getUsePDControl()
```

Class MotionTargetTerm

Field Summary

Fields inherited from class artisynth.core.inverse.LeastSquaresTermBase

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.inverse.LeastSquaresTermBase

Methods inherited from class artisynth.core.inverse.QPTermBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.inverse.QPTerm

Methods inherited from interface maspack.properties.HasProperties

Field Detail

DEFAULT_WEIGHT

DEFAULT_USE_PD_CONTROL

DEFAULT_DELTA_ACTIVATIONS

DEFAULT_USE_TIMESTEP_SCALING

DEFAULT_USE_KKT_FACTORANDSOLVE

DEFAULT_USE_TRAPEZOIDAL_SOLVER

DEFAULT_NORMALIZE_H

DEFAULT_Kd

DEFAULT_Kp

myProps

postionError

velocityError

Constructor Detail

MotionTargetTerm

MotionTargetTerm

Method Detail

getAllPropertyInfo

updateTarget

updatePositionError

updateVelocityError

isEnabled

setEnabled

getCurrentVel

initTargetRenderProps

initSourceRenderProps

addTarget

addTarget

clearTargets

getTargets

getSources

getTargetVelSize

getVelocityJacobian

getTerm

reGetTerm

setWeight

setTargetWeights

getTargetWeights

getTargetRenderProps

getTargetWeights

setTargetRenderProps

getSourceRenderProps

setSourceRenderProps

setKd

getKd

setKp

getKp

getPerr

getDerr

setNormalizeH

getNormalizeH

getRowSize

getUseKKTFactorAndSolve

setUseKKTFactorAndSolve

getUseTimestepScaling

setUseTimestepScaling

setUsePDControl

getUsePDControl