artisynth.core.inverse

Interface QPConstraintTerm

All Superinterfaces:

HasProperties, HierarchyNode, ModelComponent, PostScannable, QPTerm, Scannable

All Known Subinterfaces:

LeastSquaresTerm

All Known Implementing Classes:

BoundsTerm, ConstraintForceTerm, ForceEffectorTerm, ForceTargetTerm, LeastSquaresTermBase, MotionTargetTerm, NonuniformBoundsTerm, QPConstraintTermBase, SphericalJointForceBound, StabilityTerm

public interface QPConstraintTerm
extends QPTerm

QPTerm that adds to either the inequality or equality constraints of a quadratic program.

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

Method Summary

Modifier and Type	Method and Description
int	getTerm(MatrixNd A, VectorNd b, int rowoff, double t0, double t1) Appends the constraints for this term to the constraint matrix A and offset vector b.
int	numConstraints(int qpsize) Returns the number of constraints associated with this term.

Methods inherited from interface artisynth.core.inverse.QPTerm

getController, getType, getWeight, isEnabled, setWeight

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Method Detail

getTerm

int getTerm(MatrixNd A,
            VectorNd b,
            int rowoff,
            double t0,
            double t1)

Appends the constraints for this term to the constraint matrix A and offset vector b. For inequality constraints, A and b define the constraints

 A x >= b
 

while for equality constraints, they define the constraints

 A x = b.
 

Parameters:

A - quadratic program constraint matrix

b - quadratic program offset vector

rowoff - row offset within A and b where the constraints should be added

t0 - time at start of step

t1 - time at end of step

numConstraints

int numConstraints(int qpsize)

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,