artisynth.core.inverse

Class LeastSquaresTermBase

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.LeastSquaresTermBase

All Implemented Interfaces:

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

Direct Known Subclasses:

ConstraintForceTerm, ForceEffectorTerm, MotionTargetTerm, StabilityTerm

public abstract class LeastSquaresTermBase
extends QPCostTermBase
implements LeastSquaresTerm, CompositeComponent

Base implementation for a LeastSquaresTermBase. This class also implements CompositeComponent, so that subclasses can contain subcomponents.

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 inherited from class artisynth.core.inverse.QPTermBase

DEFAULT_ENABLED, DEFAULT_WEIGHT, myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Constructor Summary

Constructors

Constructor and Description
LeastSquaresTermBase()

Method Summary

Modifier and Type	Method and Description
void	componentChanged(ComponentChangeEvent e) Notifies this composite component that a change has occured within one or more of its descendants.
ModelComponent	findComponent(java.lang.String path) Recursively searches for a subcomponent of this ModelComponent, identified by a path of component names.
ModelComponent	get(int idx) Returns a specific subcomponent of this ModelComponent, identified by index.
ModelComponent	get(java.lang.String nameOrNumber) Returns a specific subcomponent of this ModelComponent, identified by name or string representation of the subcomponent's number
ModelComponent	getByNumber(int num) Returns a specific subcomponent of this ModelComponent, identified by number.
java.util.Iterator<? extends HierarchyNode>	getChildren()
CompositeComponent.NavpanelDisplay	getNavpanelDisplay() Returns the DisplayMode for this component.
int	getNumberLimit() Returns the current upper limit for numbers among all subcomponents in this composite.
QPTerm.Type	getType() Queries whether this is a cost, inequality, or equality term.
boolean	hasChildren()
boolean	hierarchyContainsReferences() Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references.
int	indexOf(ModelComponent comp) Returns the index of a specified subcomponent, or -1 if that the component is not present.
java.util.Iterator<ModelComponent>	iterator()
int	numComponents() Returns the number of components in this CompositeComponent.
void	postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor) Performs any required post-scanning for this component.
void	scan(ReaderTokenizer rtok, java.lang.Object ref) Scans this element from a ReaderTokenizer.
void	setDisplayMode(CompositeComponent.NavpanelDisplay mode) Sets the display mode for this component.
void	setType(QPTerm.Type type)
void	updateNameMap(java.lang.String newName, java.lang.String oldName, ModelComponent comp)

Methods inherited from class artisynth.core.inverse.QPTermBase

getAllPropertyInfo, getController, getProperty, getWeight, isEnabled, isInternal, setEnabled, setInternal, setWeight

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, copy, createTempFlag, disconnectFromHierarchy, 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.QPCostTerm

getQP

Methods inherited from interface artisynth.core.inverse.QPConstraintTerm

getTerm, numConstraints

Methods inherited from interface artisynth.core.inverse.QPTerm

getController, getWeight, isEnabled, setWeight

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, 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

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.util.Scannable

isWritable, write

Constructor Detail

LeastSquaresTermBase

public LeastSquaresTermBase()

Method Detail

getType

public QPTerm.Type getType()

Description copied from class: QPCostTermBase

Queries whether this is a cost, inequality, or equality term.

Specified by:

getType in interface QPTerm

Overrides:

getType in class QPCostTermBase

Returns:

type for this term.

setType

public void setType(QPTerm.Type type)

getChildren

public java.util.Iterator<? extends HierarchyNode> getChildren()

Specified by:

getChildren in interface HierarchyNode

Overrides:

getChildren in class ModelComponentBase

iterator

public java.util.Iterator<ModelComponent> iterator()

hasChildren

public boolean hasChildren()

Specified by:

hasChildren in interface HierarchyNode

Overrides:

hasChildren in class ModelComponentBase

get

public ModelComponent get(java.lang.String nameOrNumber)

Returns a specific subcomponent of this ModelComponent, identified by name or string representation of the subcomponent's number

Specified by:

get in interface CompositeComponent

Parameters:

nameOrNumber - name or number of the subcomponent

Returns:

named subcomponent, or null if the component does not exist.

get

public ModelComponent get(int idx)

Returns a specific subcomponent of this ModelComponent, identified by index.

Specified by:

get in interface CompositeComponent

Specified by:

get in interface IndexedComponentList

Parameters:

idx - index of the subcomponent

Returns:

indexed subcomponent, or null if the component does not exist.

getByNumber

public ModelComponent getByNumber(int num)

Returns a specific subcomponent of this ModelComponent, identified by number.

Specified by:

getByNumber in interface CompositeComponent

Parameters:

num - number of the subcomponent

Returns:

specified subcomponent, or null if the component does not exist.

numComponents

public int numComponents()

Returns the number of components in this CompositeComponent.

Specified by:

numComponents in interface CompositeComponent

Specified by:

numComponents in interface IndexedComponentList

Returns:

number of subcomponents

indexOf

public int indexOf(ModelComponent comp)

Returns the index of a specified subcomponent, or -1 if that the component is not present.

Specified by:

indexOf in interface CompositeComponent

Parameters:

comp - component whose index is requested

Returns:

indexed subcomponent

findComponent

public ModelComponent findComponent(java.lang.String path)

Recursively searches for a subcomponent of this ModelComponent, identified by a path of component names.

Specified by:

findComponent in interface CompositeComponent

Parameters:

path - path leading to the subcomponent

Returns:

named subcomponent, or null if the component does not exist.

getNumberLimit

public int getNumberLimit()

Returns the current upper limit for numbers among all subcomponents in this composite. This is one greater than the maximum subcomponent number currently assigned. A value of 0 means that there are no subcomponents. This method is useful for creating and sizing arrays whose contents are indexed by component numbers.

Specified by:

getNumberLimit in interface CompositeComponent

Returns:

upper limit for numbers among all subcomponents

getNavpanelDisplay

public CompositeComponent.NavpanelDisplay getNavpanelDisplay()

Returns the DisplayMode for this component. This specifies how the component should be displayed in a navigation panel.

Specified by:

getNavpanelDisplay in interface CompositeComponent

Returns:

display mode for this component

setDisplayMode

public void setDisplayMode(CompositeComponent.NavpanelDisplay mode)

Sets the display mode for this component. This controls how the component is displayed in a navigation panel. The default setting is NORMAL.

Parameters:

mode - new display mode

componentChanged

public void componentChanged(ComponentChangeEvent e)

Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.

This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.

Specified by:

componentChanged in interface ComponentChangeListener

Specified by:

componentChanged in interface CompositeComponent

Parameters:

e - optional argument giving specific information about the change

updateNameMap

public void updateNameMap(java.lang.String newName,
                          java.lang.String oldName,
                          ModelComponent comp)

Specified by:

updateNameMap in interface CompositeComponent

hierarchyContainsReferences

public boolean hierarchyContainsReferences()

Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references. In other words, all components referenced by components within the hierarchy are themselves components within the hierarchy.

In particular, this means that one does not need to search outside the hierarchy when looking for dependencies.

Specified by:

hierarchyContainsReferences in interface CompositeComponent

Returns:

true if this component's hierarchy is closed with respect to references.

scan

public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException

Description copied from class: ModelComponentBase

Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.

Specified by:

scan in interface ModelComponent

Specified by:

scan in interface Scannable

Overrides:

scan in class ModelComponentBase

Parameters:

rtok - Tokenizer from which to scan the element

ref - optional reference object which can be used for resolving references to other objects

Throws:

java.io.IOException - if an I/O or formatting error occured

postscan

public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException

Description copied from interface: PostScannable

Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the scan() method and stored in the token queue. The most common use of this method is to resolve the paths of component references, which may not have been created at the time of the initial scan() call.

Specified by:

postscan in interface PostScannable

Overrides:

postscan in class ModelComponentBase

Parameters:

tokens - token information that was stored during scan().

ancestor - ancestor component with respect to which reference component paths are defined.

Throws:

java.io.IOException - if an error is encountered (such as a reference to a non-existent component)