artisynth.core.inverse

Interface QPTerm

All Superinterfaces:

HasProperties, HierarchyNode, ModelComponent, PostScannable, Scannable

All Known Subinterfaces:

LeastSquaresTerm, QPConstraintTerm, QPCostTerm

All Known Implementing Classes:

BoundsTerm, ConstraintForceTerm, DampingTerm, DynamicRegularizationTerm, ForceEffectorTerm, ForceTargetTerm, L2RegularizationTerm, L2RegularizationTermForDeltas, LeastSquaresTermBase, MotionTargetTerm, NonuniformBoundsTerm, ProportionalTerm, QPConstraintTermBase, QPCostTermBase, QPTermBase, SphericalJointForceBound, StabilityTerm

public interface QPTerm
extends ModelComponent

Base interface for the different terms used by the QP solver in the tracking controller.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	QPTerm.Type

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

ModelComponent.NavpanelVisibility

Method Summary

Modifier and Type	Method and Description
TrackingController	getController() Returns the controller using this term.
QPTerm.Type	getType() Queries whether this is a cost, inequality, or equality term.
double	getWeight() Queries the weight for this term.
boolean	isEnabled() Queries the enabled status of this term.
void	setWeight(double w) Sets the weight for this term.

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

getType

QPTerm.Type getType()

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

Returns:

type for this term.

setWeight

void setWeight(double w)

Sets the weight for this term.

Parameters:

w - weight for this term

getWeight

double getWeight()

Queries the weight for this term.

Returns:

weight for this term

getController

TrackingController getController()

Returns the controller using this term.

Returns:

controller using this term

isEnabled

boolean isEnabled()

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

Returns:

enabled status of this term