artisynth.core.inverse

Class MotionTargetTerm

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.inverse.QPTermBase

artisynth.core.inverse.QPCostTermBase

artisynth.core.inverse.LeastSquaresTermBase

artisynth.core.inverse.MotionTargetTerm

All Implemented Interfaces:

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

public class MotionTargetTerm
extends LeastSquaresTermBase

Cost term that minimizes the tracking error for one or more motion targets. Can also be employed as a constraint term.

Author:

Ian Stavness, Antonio Sanchez, John E Lloyd 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_CHASE_TIME
static double	DEFAULT_Kd
static double	DEFAULT_Kp
static boolean	DEFAULT_LEGACY_CONTROL
static boolean	DEFAULT_USE_PD_CONTROL
static boolean	keepVelocityJacobianConstant
boolean	myLegacyControl
static PropertyList	myProps

Fields inherited from class artisynth.core.inverse.QPTermBase

DEFAULT_ENABLED, DEFAULT_WEIGHT

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Constructor Summary

Constructors

Constructor and Description
MotionTargetTerm()
MotionTargetTerm(TrackingController controller)

Method Summary

Modifier and Type	Method and Description
TargetFrame	addFrameTarget(Frame source) Adds a frame target to track with weight 1
TargetFrame	addFrameTarget(Frame source, double weight) Adds a frame target to track
TargetPoint	addPointTarget(Point source) Adds a point target to track with weight 1
TargetPoint	addPointTarget(Point source, double weight) Adds a point target to track
MotionTargetComponent	addTarget(MotionTargetComponent target) Deprecated. Use addPointTarget(Point) or addFrameTarget(Frame) instead.
MotionTargetComponent	addTarget(MotionTargetComponent source, double weight) Deprecated. Use addPointTarget(Point,double) or addFrameTarget(Frame,double) instead.
void	clearTargets() Removes targets
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
VectorNd	getB()
double	getChaseTime() Queries the chase time.
MatrixNd	getH()
double	getKd() Returns the Derivative gain for PD controller.
double	getKp() Returns the Proportional gain for PD controller.
boolean	getLegacyControl()
double	getPositionError()
void	getQP(MatrixNd Q, VectorNd p, double t0, double t1) Adds the contribution of this term to the quadratic cost components Q and p.
Frame	getSourceFrame(int idx)
Point	getSourcePoint(int idx)
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
RenderableComponentList<TargetFrame>	getTargetFrames()
PointList<TargetPoint>	getTargetPoints()
RenderProps	getTargetRenderProps() Render props for targets
java.util.ArrayList<MotionTargetComponent>	getTargets() Returns list of target points/frames
VectorNd	getTargetVel(double t0, double t1)
void	getTargetWeights(VectorNd weights) Gets weights for targets.
int	getTerm(MatrixNd A, VectorNd b, int rowoff, double t0, double t1) Fills H and b with this motion term
boolean	getUsePDControl()
double	getVelocityError()
void	initSourceRenderProps()
void	initTargetRenderProps(TrackingController controller)
int	numConstraints(int qpsize) Returns the number of constraints associated with this term.
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	setChaseTime(double t) Sets the chase time.
void	setKd(double k) Derivative gain for PD controller
void	setKp(double k) Proportional gain for PD controller
void	setLegacyControl(boolean enable)
void	setSourceRenderProps(RenderProps rend) Sets render props for sources
void	setTargetRenderProps(RenderProps rend) Sets render props for the target points/frames
void	setTargetsPointRadius(double rad)
void	setTargetWeights(VectorNd weights) Sets weights for targets.
void	setUsePDControl(boolean usePD)
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	updateSourceVelocity(VectorNd vel)
void	updateTarget(double t0, double t1)
void	updateVelocityError(VectorNd verror)

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, isEnabled, isInternal, setEnabled, setInternal

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.QPTerm

getController, getWeight, isEnabled

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

getProperty

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

keepVelocityJacobianConstant

public static boolean keepVelocityJacobianConstant

DEFAULT_LEGACY_CONTROL

public static final boolean DEFAULT_LEGACY_CONTROL

See Also:

Constant Field Values

myLegacyControl

public boolean myLegacyControl

DEFAULT_USE_PD_CONTROL

public static final boolean DEFAULT_USE_PD_CONTROL

See Also:

Constant Field Values

DEFAULT_CHASE_TIME

public static double DEFAULT_CHASE_TIME

DEFAULT_Kd

public static double DEFAULT_Kd

DEFAULT_Kp

public static double DEFAULT_Kp

myProps

public static PropertyList myProps

Constructor Detail

MotionTargetTerm

public MotionTargetTerm()

MotionTargetTerm

public MotionTargetTerm(TrackingController controller)

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

setTargetsPointRadius

public void setTargetsPointRadius(double rad)

getTargetPoints

public PointList<TargetPoint> getTargetPoints()

getTargetFrames

public RenderableComponentList<TargetFrame> getTargetFrames()

updateTarget

public void updateTarget(double t0,
                         double t1)

getPositionError

public double getPositionError()

getVelocityError

public double getVelocityError()

updateVelocityError

public void updateVelocityError(VectorNd verror)

updateSourceVelocity

public void updateSourceVelocity(VectorNd vel)

initTargetRenderProps

public void initTargetRenderProps(TrackingController controller)

initSourceRenderProps

public void initSourceRenderProps()

addTarget

public MotionTargetComponent addTarget(MotionTargetComponent source,
                                       double weight)

Deprecated. Use addPointTarget(Point,double) or addFrameTarget(Frame,double) instead.

addTarget

public MotionTargetComponent addTarget(MotionTargetComponent target)

Deprecated. Use addPointTarget(Point) or addFrameTarget(Frame) instead.

addPointTarget

public TargetPoint addPointTarget(Point source,
                                  double weight)

Adds a point target to track

Parameters:

source - point in the model you wish to drive to a target position

weight - used in error tracking

Returns:

the created point that will be used as a target

addPointTarget

public TargetPoint addPointTarget(Point source)

Adds a point target to track with weight 1

Parameters:

source - point in the model you wish to drive to a target position

Returns:

the created point that will be used as a target

addFrameTarget

public TargetFrame addFrameTarget(Frame source,
                                  double weight)

Adds a frame target to track

Parameters:

source - frame in the model you wish to drive to a target position

weight - used in error tracking

Returns:

the created frame that will be used as a target

addFrameTarget

public TargetFrame addFrameTarget(Frame source)

Adds a frame target to track with weight 1

Parameters:

source - frame in the model you wish to drive to a target position

Returns:

the created 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

getSourcePoint

public Point getSourcePoint(int idx)

getSourceFrame

public Frame getSourceFrame(int idx)

getTargetVel

public VectorNd getTargetVel(double t0,
                             double t1)

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()

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

Parameters:

w - weight for the term

setTargetWeights

public void setTargetWeights(VectorNd weights)

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:

weights - weights vector

getTargetWeights

public void getTargetWeights(VectorNd weights)

Gets weights for targets. If weights.size() equals the number of targets, returns the set of single weights used per target. If weights.size() equals the full size of the target velocity vector, then returns the direct scaling vector.

Parameters:

weights - weights vector

getTargetRenderProps

public RenderProps getTargetRenderProps()

Render props for targets

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

setChaseTime

public void setChaseTime(double t)

Sets the chase time. This is the time over which the controller tries to make the source catch up to the target, if not using PD control. Default value is 0.01. The chase time should generally by >= the simulation step size.

Parameters:

t - new chase time

getChaseTime

public double getChaseTime()

Queries the chase time. See setChaseTime(double) for details.

Returns:

chase time

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

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

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

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,

setUsePDControl

public void setUsePDControl(boolean usePD)

getUsePDControl

public boolean getUsePDControl()

setLegacyControl

public void setLegacyControl(boolean enable)

getLegacyControl

public boolean getLegacyControl()