artisynth.core.inverse

Class ConstraintForceTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.LeastSquaresTermBase

artisynth.core.inverse.ConstraintForceTerm

All Implemented Interfaces:

LeastSquaresTerm, QPConstraintTerm, QPCostTerm, QPTerm, ComponentChangeListener, CompositeComponent, IndexedComponentList, ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

Direct Known Subclasses:

ForceTargetTerm

public class ConstraintForceTerm
extends LeastSquaresTermBase

Cost term that minimizes the tracking error for the constraint forces of one or more rigid body connectors. Can also be employed as a constraint term.

Author:

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

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.inverse.QPTerm

QPTerm.Type

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

ModelComponent.NavpanelVisibility

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

CompositeComponent.NavpanelDisplay

Field Summary

Fields

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

Fields inherited from class artisynth.core.inverse.QPTermBase

DEFAULT_ENABLED

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Constructor Summary

Constructors

Constructor and Description
ConstraintForceTerm()
ConstraintForceTerm(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
ForceTarget	addForceTarget(BodyConnector con) Deprecated. Use addTarget(BodyConnector) instead.
ForceTarget	addForceTarget(BodyConnector con, double weight) Deprecated. Use addTarget(BodyConnector,double) instead.
ForceTarget	addForceTarget(BodyConnector con, VectorNd targetLambda) Deprecated. Use addTarget(BodyConnector,VectorNd) instead.
ForceTarget	addForceTarget(BodyConnector con, VectorNd targetLambda, double weight) Deprecated. Use addTarget(BodyConnector,VectorNd,double) instead.
ConstraintForceTarget	addTarget(BodyConnector con) Adds a target to track the reaction force of the specified body connector
ConstraintForceTarget	addTarget(BodyConnector con, double weight) Adds a target to track the reaction force of the specified body connector
ConstraintForceTarget	addTarget(BodyConnector con, VectorNd targetLambda) Adds a target to track the reaction force of the specified body connector
ConstraintForceTarget	addTarget(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
void	connectToHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent).
void	disconnectFromHierarchy(CompositeComponent hcomp) Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent).
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
VectorNd	getB()
SparseBlockMatrix	getForceJacobian(MechModel mech) 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
ComponentList<ForceTarget>	getForceTargets() Deprecated. Use getTargets() instead.
MatrixNd	getH()
void	getQP(MatrixNd Q, VectorNd p, double t0, double t1) Adds the contribution of this term to the quadratic cost components Q and p.
java.util.ArrayList<BodyConnector>	getSources()
VectorNd	getTargetForce(double t0, double t1)
java.util.ArrayList<ConstraintForceTarget>	getTargets()
VectorNd	getTargetWeights()
void	getTargetWeights(VectorNd weights)
int	getTerm(MatrixNd A, VectorNd b, int rowoff, double t0, double t1) Fills H and b with this motion term
boolean	isEnabled() Queries the enabled status of this term.
int	numConstraints(int qpsize) Returns the number of constraints associated with this term.
void	setEnabled(boolean enabled)
void	setTargetWeights(VectorNd weights)
void	setWeight(double w) Weight used to scale the contribution of this term in the quadratic optimization problem
void	updateHb(TrackingController controller, double t0, double t1)
void	updateTargetForce(double t0, double t1)

Methods inherited from class artisynth.core.inverse.LeastSquaresTermBase

componentChanged, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, getType, hasChildren, hierarchyContainsReferences, indexOf, iterator, numComponents, postscan, scan, setDisplayMode, setType, updateNameMap

Methods inherited from class artisynth.core.inverse.QPTermBase

getController, getProperty, getWeight, isInternal, setInternal

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, copy, createTempFlag, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.inverse.QPTerm

getController, getWeight

Methods inherited from interface artisynth.core.modelbase.ModelComponent

getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

DEFAULT_WEIGHT

public static final double DEFAULT_WEIGHT

See Also:

Constant Field Values

myProps

public static PropertyList myProps

Constructor Detail

ConstraintForceTerm

public ConstraintForceTerm()

ConstraintForceTerm

public ConstraintForceTerm(java.lang.String name)

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from class: QPTermBase

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

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class QPTermBase

Returns:

static information for all exported properties

getTargetForce

public VectorNd getTargetForce(double t0,
                               double t1)

updateTargetForce

public void updateTargetForce(double t0,
                              double t1)

isEnabled

public boolean isEnabled()

Description copied from class: QPTermBase

Queries the enabled status of this term. Terms that are not enabled are ignored.

Specified by:

isEnabled in interface QPTerm

Overrides:

isEnabled in class QPTermBase

Returns:

enabled status of this term

setEnabled

public void setEnabled(boolean enabled)

Description copied from class: QPTermBase

Overrides:

setEnabled in class QPTermBase

getForceJacobian

public SparseBlockMatrix getForceJacobian(MechModel mech)

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)

Deprecated. Use addTarget(BodyConnector) instead.

addForceTarget

public ForceTarget addForceTarget(BodyConnector con,
                                  double weight)

Deprecated. Use addTarget(BodyConnector,double) instead.

addForceTarget

public ForceTarget addForceTarget(BodyConnector con,
                                  VectorNd targetLambda)

Deprecated. Use addTarget(BodyConnector,VectorNd) instead.

addForceTarget

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

Deprecated. Use addTarget(BodyConnector,VectorNd,double) instead.

addTarget

public ConstraintForceTarget addTarget(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

addTarget

public ConstraintForceTarget addTarget(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

addTarget

public ConstraintForceTarget addTarget(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

addTarget

public ConstraintForceTarget addTarget(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 A,
                   VectorNd b,
                   int rowoff,
                   double t0,
                   double t1)

Fills H and b with this motion term

Parameters:

A - 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

updateHb

public void updateHb(TrackingController controller,
                     double t0,
                     double t1)

getH

public MatrixNd getH()

getB

public VectorNd getB()

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

Parameters:

w - weight for the term

setTargetWeights

public void setTargetWeights(VectorNd weights)

getTargetWeights

public void getTargetWeights(VectorNd weights)

getTargetWeights

public VectorNd getTargetWeights()

numConstraints

public int numConstraints(int qpsize)

Description copied from interface: QPConstraintTerm

Returns the number of constraints associated with this term.

Parameters:

qpsize - size of the quadratic program. For the tracking controller, this is the number of excitation values being used,

getQP

public void getQP(MatrixNd Q,
                  VectorNd p,
                  double t0,
                  double t1)

Description copied from interface: QPCostTerm

Adds the contribution of this term to the quadratic cost components Q and p.

Parameters:

Q - quadratic term

p - proportional term

t0 - time at start of step

t1 - time at end of step

getForceTargets

public ComponentList<ForceTarget> getForceTargets()

Deprecated. Use getTargets() instead.

getTargets

public java.util.ArrayList<ConstraintForceTarget> getTargets()

getSources

public java.util.ArrayList<BodyConnector> getSources()

connectToHierarchy

public void connectToHierarchy(CompositeComponent hcomp)

Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent). This method is responsible for doing any required hierarchy-dependent initialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component to which this component, or its ancestor, was attached

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent hcomp)

Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent). This method is responsible for any required hierarchy-dependent deinitialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component from which this component, or its ancestor, was detached