artisynth.core.inverse

Class ExcitationResponse

java.lang.Object

artisynth.core.inverse.ExcitationResponse

public class ExcitationResponse
extends java.lang.Object

Computes the linearized velocity and constraint force response for each of the excitations computed by the controller. More precisely, if 'a' is the vector of excitation values, then the velocity 'u' and constraint forces 'lam' for the next time step are given by the linear relationships

 u = u0 + Hu a
 lam = lam0 + Hlam a
 

u0, Hu, lam0 and Hlam are computed and stored by this class, for subsequent use in computing the cost terms for various motion and force targets.

Author:

John E. Lloyd

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	debugHu
static boolean	DEFAULT_NORMALIZE

Constructor Summary

Constructors

Constructor and Description
ExcitationResponse(TrackingController opt)

Method Summary

Modifier and Type	Method and Description
static void	diagMul(VectorNd diag, MatrixNd m1, MatrixNd out)
VectorNd	getLam0()
VectorNd	getU0()
static void	pointMul(VectorNd v1, VectorNd v2, VectorNd out)

Methods inherited from class java.lang.Object

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

Field Detail

DEFAULT_NORMALIZE

public static final boolean DEFAULT_NORMALIZE

See Also:

Constant Field Values

debugHu

public static boolean debugHu

Constructor Detail

ExcitationResponse

public ExcitationResponse(TrackingController opt)

Method Detail

pointMul

public static void pointMul(VectorNd v1,
                            VectorNd v2,
                            VectorNd out)

diagMul

public static void diagMul(VectorNd diag,
                           MatrixNd m1,
                           MatrixNd out)

getU0

public VectorNd getU0()

getLam0

public VectorNd getLam0()