artisynth.core.inverse

Interface QPTerm

All Superinterfaces:

HasProperties

All Known Subinterfaces:

LeastSquaresTerm

All Known Implementing Classes:

BoundsTerm, DampingTerm, DynamicRegularizationTerm, ForceTargetTerm, L2RegularizationTerm, L2RegularizationTermForDeltas, LeastSquaresTermBase, MotionTargetTerm, NonuniformBoundsTerm, ProportionalTerm, QPTermBase, SphericalJointForceBound

public interface QPTerm
extends HasProperties

Method Summary

Modifier and Type	Method and Description
void	dispose()
void	getQP(MatrixNd Q, VectorNd P, double t0, double t1) Sums this term to the arguments Q and P
int	getSize()
void	setSize(int size)
void	setWeight(double w)

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Method Detail

setWeight

void setWeight(double w)

setSize

void setSize(int size)

getSize

int getSize()

dispose

void dispose()

getQP

void getQP(MatrixNd Q,
           VectorNd P,
           double t0,
           double t1)

Sums this term to the arguments Q and P

Parameters:

Q - the Quadratic term

P - the Proportional term

t0 - time at start of step

t1 - time at end of step