TrackingController (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.ModelAgentBase
  - - artisynth.core.modelbase.ControllerMonitorBase
    - - artisynth.core.modelbase.ControllerBase
      - artisynth.core.inverse.TrackingController

All Implemented Interfaces:: ComponentChangeListener, CompositeComponent, Controller, HasState, IndexedComponentList, ModelAgent, ModelComponent, PostScannable, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class TrackingController
extends ControllerBase
implements CompositeComponent, RenderableComponent

Inverse controller for computing muscle activations based on a set of motion and force trajectories, along with other constraints.

Terminology:

"Targets"	are trajectories of points/frames that we wish our model to follow
"Sources"	are the points/frames in the model we want to follow the target trajectories
"Excitation"	we actually mean, "activation", since we are currently ignoring the excitation dynamics

Papers:
- Ian Stavness, JE Lloyd, and SS Fels. Automatic Prediction of Tongue Muscle Activations Using a Finite Element Model. Journal of Biomechanics, 45(16):2841-2848, 2012.
- Ian Stavness, AG Hannam, JE Lloyd, and SS Fels. Predicting muscle patterns for hemimandibulectomy models. Computer Methods in Biomechanics and Biomedical Engineering, 13(4):483-491, 2010.

Author:: Ian Stavness, John E Lloyd, Antonio Sanchez

Nested Class Summary
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
  CompositeComponent.NavpanelDisplay
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.NavpanelVisibility

Field Summary

Fields
Modifier and Type	Field and Description
`static boolean`	`DEFAULT_DEBUG`
`static boolean`	`DEFAULT_ENABLED`
`static DoubleInterval`	`DEFAULT_EXCITATION_BOUNDS`
`static double`	`DEFAULT_EXCITATION_REGULARIZATION_WEIGHT`
`static double`	`DEFAULT_MAX_EXCITATION_JUMP`
`static boolean`	`DEFAULT_NORMALIZE_COST_TERMS`
`static double`	`DEFAULT_PROBE_DURATION`
`static double`	`DEFAULT_PROBE_INTERVAL`
`static boolean`	`DEFAULT_SOURCES_VISIBLE`
`static boolean`	`DEFAULT_TARGETS_VISIBLE`
`static boolean`	`DEFAULT_USE_KKT_FACTORIZATION`
`static boolean`	`DEFAULT_USE_TIMESTEP_SCALING`
`static int`	`DEFAULT_USE_TRAPEZOIDAL_SOLVER`
`static PropertyList`	`myProps`

Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable
TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors
Constructor and Description
`TrackingController()` Creates an empty tracking controller for scanning purposes.
`TrackingController(MechSystemBase m)` Creates a tracking controller for a given mechanical system.
`TrackingController(MechSystemBase m, java.lang.String name)` Creates and names a tracking controller for a given mechanical system

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`ConstraintForceTarget`	`addConstraintForceTarget(BodyConnector bodyCon)` Adds a body connector for constraint force tracking and creates a corresponding `ConstraintForceTarget` for specifying the target force and weights.
`ConstraintForceTarget`	`addConstraintForceTarget(BodyConnector bodyCon, double weight)` Adds a body connector for constraint force tracking and creates a corresponding `ConstraintForceTarget` for specifying the target force and weights.
`void`	`addConstraintTerm(QPConstraintTerm term)` Adds a constraint term to this controller.
`void`	`addCostTerm(QPCostTerm term)` Adds a cost term to this controller.
`DampingTerm`	`addDampingTerm()` Deprecated. Use `setExcitationDamping()` instead.
`DampingTerm`	`addDampingTerm(double w)` Deprecated. Use `setExcitationDamping(double)` instead.
`void`	`addExciter(double weight, ExcitationComponent ex)` Adds an excitation component to the set of exciters that can be used by the controller.
`void`	`addExciter(ExcitationComponent ex)` Adds an excitation component to the set of exciters that can be used by the controller.
`void`	`addExciters(java.util.Collection<? extends ExcitationComponent> exciters)` Adds a collection of excitation component to the set of exciters that can be used by the controller.
`ForceEffectorTarget`	`addForceEffectorTarget(ForceTargetComponent source)` Adds a force effector component for force tracking and creates a corresponding `ForceEffectorTarget` for specifying the target force and weights.
`ForceEffectorTarget`	`addForceEffectorTarget(ForceTargetComponent source, double weight)` Adds a force effector component for force tracking and creates a corresponding `ForceEffectorTarget` for specifying the target force and weights.
`ForceEffectorTarget`	`addForceEffectorTarget(ForceTargetComponent source, double weight, boolean staticOnly)` Adds a force effector icomponent for force tracking and creates a corresponding `ForceEffectorTarget` for specifying the target force and weights.
`ForceEffectorTerm`	`addForceEffectorTerm()` Deprecated. The force effector term is now allocated on demand by `getForceEffectorTerm()` and other methods.
`ForceTargetTerm`	`addForceTargetTerm()` Deprecated. Replaced by `getConstraintForceTerm()`
`TargetFrame`	`addFrameTarget(Frame source)` Adds a frame source for motion tracking and creates a corresponding target component for specifying the target force and weights.
`TargetFrame`	`addFrameTarget(Frame source, double weight)` Adds a frame source for motion tracking and creates a corresponding target component for specifying the target force and weights.
`L2RegularizationTerm`	`addL2RegularizationTerm()` Deprecated. Use `setL2Regularization()` instead.
`L2RegularizationTerm`	`addL2RegularizationTerm(double w)` Deprecated. Use `setL2Regularization(double)` instead.
`MotionTargetComponent`	`addMotionTarget(MotionTargetComponent source)` Deprecated. Use `addPointTarget(Point)` or `addFrameTarget(Frame)` instead.
`MotionTargetComponent`	`addMotionTarget(MotionTargetComponent source, double weight)` Deprecated. Use `addPointTarget(Point,double)` or `addFrameTarget(Frame,double)` instead.
`TargetPoint`	`addPointTarget(Point source)` Adds a point source for motion tracking and creates a corresponding target component for specifying the target force and weights.
`TargetPoint`	`addPointTarget(Point source, double weight)` Adds a point source for motion tracking and creates a corresponding target component for specifying the target force and weights.
`void`	`addRegularizationTerms(java.lang.Double w_l2norm, java.lang.Double w_damping)` Deprecated. Use `setRegularization(double,double)` instead.
`void`	`apply(double t0, double t1)` Applies the controller, estimating and setting the next set of muscle activations
`void`	`clearExciters()` Removes all exciters
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`FrameExciter[]`	`createAndAddFrameExciters(TrackingController ctrl, MechModel mech, Frame frame, double maxForce, double maxMoment)` Creates a complete set of FrameExciters for a given frame and adds them to a MechModel and to a controller.
`void`	`createPanel(RootModel root)` Convenience method that creates a control panel for the tracking controller.
`void`	`createProbes(RootModel root)` Convenience method that clears all existing probes and then creates a set of probes for controlling and monitoring the tracking controller.
`void`	`createProbes(RootModel root, double duration, double interval)` Convenience method that clears all existing probes and then creates a set of probes for controlling and monitoring the tracking controller.
`void`	`createProbesAndPanel(RootModel root)` Convenience method that creates both a set of probes and a control panel for the tracking controller, combining both `createProbes(RootModel)` and `createPanel(artisynth.core.workspace.RootModel)`.
`void`	`createProbesAndPanel(RootModel root, double duration, double interval)` Convenience method that creates both a set of probes and a control panel for the tracking controller, combining both `createProbes(RootModel,double,double)` and `createPanel(artisynth.core.workspace.RootModel)`.
`ComponentState`	`createState(ComponentState prevState)` Factory routine to create a state object for this component, which can then be used as an argument for `HasState.setState(artisynth.core.modelbase.ComponentState)` and `HasState.getState(artisynth.core.modelbase.ComponentState)`.
`void`	`dispose()` Clears all terms and disposes storage
`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
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`BoundsTerm`	`getBoundsTerm()` Returns the standard excitation bounds term for this controller.
`ModelComponent`	`getByNumber(int num)` Returns a specific subcomponent of this ModelComponent, identified by number.
`java.util.Iterator<? extends HierarchyNode>`	`getChildren()`
`boolean`	`getComputeIncrementally()` Queries whether or not excitations are computed incrementally at each time step, as described in `setComputeIncrementally(boolean)`.
`boolean`	`getConfigExcitationColoring()` Queries whether or not the automatic configuration of excitation coloring for exciters is enabled, as described in `setConfigExcitationColoring(boolean)`.
`java.util.ArrayList<BodyConnector>`	`getConstraintForceSources()` Returns all the BodyConnectors whose constraint forces are being controlled.
`java.util.ArrayList<ConstraintForceTarget>`	`getConstraintForceTargets()` Returns the ConstraintForceTargets for all the body connectors being controlled.
`ConstraintForceTerm`	`getConstraintForceTerm()` Returns the constraint force target term, allocating it if necessary.
`double`	`getConstraintForceTermWeight()` Queries the weight of the constraint force term.
`java.util.ArrayList<QPCostTerm>`	`getCostTerms()` Retrieves a list of all costs terms, including the standard ones.
`DampingTerm`	`getDampingTerm()` Deprecated. Use `getExcitationDampingTerm()` instead.
`boolean`	`getDebug()` Queries whether or not debug messages are enabled.
`java.util.ArrayList<QPConstraintTerm>`	`getEqualityConstraints()` Retrieves a list of all equality constraint terms, including the standard ones.
`double`	`getExcitation(int k)` Queries the current excitation value of the `k`-th exciter.
`DoubleInterval`	`getExcitationBounds()` Queries the current default bounds for the excitation values.
`DoubleInterval`	`getExcitationBounds(ExcitationComponent ex)` Queries the excitation bounds for a specific excitation component.
`PropertyMode`	`getExcitationBoundsMode()` Queries the property inheritance mode for the excitation bounds.
`DampingTerm`	`getExcitationDampingTerm()` Returns the excitation damping term, or `null` if it is not present.
`double`	`getExcitationDampingWeight()` Return the weight assocation with excitation damping, or 0 if damping is not present.
`VectorNd`	`getExcitations()` Returns a vector containing all the current excitation values.
`void`	`getExcitations(VectorNd values)` Returns the current excitation values in the vector `values`.
`int`	`getExcitations(VectorNd values, int idx)` Fills the supplied `values` vector with current excitation values starting at index `idx`.
`ExcitationComponent`	`getExciter(int idx)` Returns the idx-th excitation component used by the controller.
`ListView<ExcitationComponent>`	`getExciters()` Returns a list of the excitation components used by the inverse routine
`java.util.ArrayList<ForceTargetComponent>`	`getForceEffectorSources()` Returns a list of all the force effector components being controlled.
`java.util.ArrayList<ForceEffectorTarget>`	`getForceEffectorTargets()` Returns a list of the ForceEffectorTargets for all the force effector components being controlled.
`ForceEffectorTerm`	`getForceEffectorTerm()` Returns the force effector target term, allocating it if necessary.
`double`	`getForceEffectorTermWeight()` Queries the weight of the force effector term.
`ForceTargetTerm`	`getForceTargetTerm()` Deprecated. Replaced by `getConstraintForceTerm()`
`VectorNd`	`getHlamCol(int j)` Returns the `j`-th column of most recently computed Hlam matrix for the excitation response.
`VectorNd`	`getHuCol(int j)` Returns the `j`-th column of most recently computed Hu matrix for the excitation response.
`java.util.ArrayList<QPConstraintTerm>`	`getInequalityConstraints()` Retrieves a list of all inequality constraint terms, including the standard ones.
`void`	`getInitialState(ComponentState newstate, ComponentState oldstate)` Gets an initial state for this component and returns the value in `state`.
`MechSystemSolver.Integrator`	`getIntegrator()` Queries the integrator used by the mechanical system.
`boolean`	`getKeepVelocityJacobianConstant()` Queries if recomputation of the velocity Jacobian has been disabled, as described in `setKeepVelocityJacobianConstant(boolean)`.
`L2RegularizationTerm`	`getL2RegularizationTerm()` Returns the L2 regularization term, or `null` if it is not present.
`double`	`getL2RegularizationWeight()` Return the weight assocation with L2 regularization, or 0 if regularization is not present.
`VectorNd`	`getLam0()` Returns the most recently computed lam0 vector for the excitation response.
`double`	`getMaxExcitationJump()` Queries the maximum jump in excitation values permitted between steps.
`MechSystemBase`	`getMech()` Queries the mechanical system being controlled.
`java.util.ArrayList<MotionTargetComponent>`	`getMotionSources()` Returns a list of all motion source components.
`java.util.ArrayList<MotionTargetComponent>`	`getMotionTargets()` Returns a list of all the motion target components.
`MotionTargetTerm`	`getMotionTargetTerm()` Returns the standard motion term for this controller, responsible for motion tracking.
`double`	`getMotionTargetTermWeight()` Queries the weight of the motion term.
`double`	`getMotionTargetWeight(MotionTargetComponent comp)` Queries the weight for a specific motion target.
`VectorNd`	`getMotionTargetWeights()` Returns a vector of the individual weights for each motion target component.
`CompositeComponent.NavpanelDisplay`	`getNavpanelDisplay()` Returns the DisplayMode for this component.
`boolean`	`getNormalizeCostTerms()` Queries whether or not cost terms normalization is enabled, as described in `setNormalizeCostTerms(boolean)`.
`boolean`	`getNormalizeH()` Deprecated. Use `getNormalizeCostTerms()` intead.
`int`	`getNumberLimit()` Returns the current upper limit for numbers among all subcomponents in this composite.
`double`	`getProbeDuration()` Queries the probe duration used by `createProbes(RootModel)` and `createProbesAndPanel(RootModel)`.
`double`	`getProbeUpdateInterval()` Queries the output probe update interval used by `createProbes(RootModel)` and `createProbesAndPanel(RootModel)`.
`boolean`	`getSourcesVisible()` Queries whether the motion sources are being rendered.
`void`	`getState(ComponentState state)` Get the current state of this component.
`PointList<TargetPoint>`	`getTargetPoints()` Returns a list of all points which are being used as motion targets.
`double`	`getTargetPointsRadius()`
`boolean`	`getTargetsVisible()` Queries whether the motion targets are being rendered.
`VectorNd`	`getU0()` Returns the most recently computed u0 vector for the excitation response.
`boolean`	`getUseKKTFactorization()` Queries whether or not KKT factorization is enabled, as described in `setUseKKTFactorization(boolean)`.
`boolean`	`getUseTimestepScaling()` Queries whether or not timestep scaling is enabled, as described in `setUseTimestepScaling(boolean)`.
`int`	`getUseTrapezoidalSolver()` Queries the use of a trapezoidal solver for setting up the excitation solve.
`boolean`	`hasChildren()`
`boolean`	`hasState()` Queries if this component has state.
`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.
`void`	`initializeExcitations()` Initialize the controller excitations with values currently stored in the exciter components, to allow for non-zero starting excitations.
`boolean`	`isEnabled()` Queries whether or not this controller is enabled.
`int`	`numComponents()` Returns the number of components in this CompositeComponent.
`int`	`numConstraintForceTargets()` Returns the number of constraint force targets.
`int`	`numExciters()` Returns the number of excitation components used by the controller.
`int`	`numForceEffectorTargets()` Returns the number of force effector targets.
`int`	`numMotionTargets()` Returns the number of motion targets.
`void`	`postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor)` Performs any required post-scanning for this component.
`void`	`prerender(RenderList list)` Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
`boolean`	`removeConstraintForceTarget(BodyConnector bodyCon)` Removes a body connector from constraint force tracking.
`boolean`	`removeConstraintTerm(QPConstraintTerm term)` Removes a constraint term from this controller.
`boolean`	`removeCostTerm(QPCostTerm term)` Remove a cost term from this controller.
`boolean`	`removeDampingTerm()` Deprecated. Use `removeExcitationDamping()` instead.
`boolean`	`removeExcitationDamping()` Removes excitation damping.
`boolean`	`removeForceEffectorTarget(ForceTargetComponent source)` Removes a force effector component from force tracking.
`boolean`	`removeForceEffectorTerm()` Deprecated. The force effector term now remains in place once allocated. This method does nothing and returns `false`.
`void`	`removeForceTargetTerm()` Deprecated. The constraint force term now remains in place once allocated. This method therefore does nothing.
`boolean`	`removeL2Regularization()` Removes L2 regularization.
`boolean`	`removeL2RegularizationTerm()` Deprecated. Use `removeL2Regularization()` instead.
`boolean`	`removeMotionTarget(MotionTargetComponent source)` Removes a source component from motion tracking.
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`void`	`setComputeIncrementally(boolean enable)` Enables incremental computation.
`void`	`setConfigExcitationColoring(boolean enable)` Enables the automatic configuration of excitation coloring for exciters that support this capability.
`void`	`setConstraintForceTermWeight(double w)` Sets the weight of the constraint force term.
`void`	`setDebug(boolean enable)` Enables the printing of debug messages.
`void`	`setExcitationBounds(double lower, double upper)` Sets the default bounds for the excitation values.
`void`	`setExcitationBounds(DoubleInterval bounds)` Sets the default bounds for the excitation values.
`void`	`setExcitationBounds(ExcitationComponent ex, double lower, double upper)` Sets the excitation bounds for a specific excitation component.
`void`	`setExcitationBoundsMode(PropertyMode mode)` Sets the property inheritance mode for the excitation bounds.
`void`	`setExcitationDamping()` Enables excitation damping with a default weight of 1e-5.
`void`	`setExcitationDamping(double w)` Enables excitation damping with a specified weight.
`void`	`setExcitations(VectorNd values)` Sets excitations to the values provided in the vector `values`.
`int`	`setExcitations(VectorNd values, int idx)` Sets excitations provided in the `ex` vector starting at index `idx`.
`void`	`setForceEffectorTermWeight(double w)` Sets the weight of the force effector term.
`void`	`setInitialExcitations(VectorNd init)` Sets initial excitations to the supplied values.
`void`	`setKeepVelocityJacobianConstant(boolean enable)` Disables recomputation of the velocity Jacobian.
`void`	`setL2Regularization()` Enables L2 regularization with a default weight of 0.0001.
`void`	`setL2Regularization(double w)` Enables L2 regularization with a specified weight.
`void`	`setLegacyMotionControl()` Sets property settings in the controller and motion control to those used before PD and chase control were redesigned.
`void`	`setMaxExcitationJump(double maxJump)` Sets the maximum jump in excitation values permitted between steps.
`void`	`setMech(MechSystemBase mech)` Set the mechanical system being controlled.
`void`	`setMotionRenderProps(RenderProps targets, RenderProps sources)` Sets the render properties used for rendering target and source components.
`void`	`setMotionTargetTermWeight(double w)` Sets the weight of the motion term.
`void`	`setMotionTargetWeight(MotionTargetComponent comp, double w)` Sets the weight for a specific motion target.
`void`	`setNormalizeCostTerms(boolean enable)` Enables or disbles normalization of the cost terms in the quadratic program.
`void`	`setNormalizeH(boolean enable)` Deprecated. Use `setNormalizeCostTerms(boolean)` intead.
`void`	`setProbeDuration(double duration)` Sets the probe duration used by `createProbes(RootModel)` and `createProbesAndPanel(RootModel)`.
`void`	`setProbeUpdateInterval(double h)` Sets the output probe update interval used by `createProbes(RootModel)` and `createProbesAndPanel(RootModel)`.
`void`	`setRegularization(double wL2, double wdamping)` Sets both L2 regularization and excitation damping with supplied weights.
`void`	`setSourcesVisible(boolean show)` Enables rendering of the motion sources.
`void`	`setState(ComponentState state)` Set the state of this component.
`void`	`setTargetsPointRadius(double radius)` Sets the sphere radius used for rendering target points.
`void`	`setTargetsVisible(boolean show)` Enables rendering of the motion targets.
`void`	`setUseKKTFactorization(boolean enable)` Enables or disables KKT factorization.
`void`	`setUseTimestepScaling(boolean enable)` Enables timestep scaling.
`void`	`setUseTrapezoidalSolver(int code)` Sets when to use a trapezoidal solver for setting up the excitation solve.
`void`	`updateNameMap(java.lang.String newName, java.lang.String oldName, ModelComponent comp)`

Methods inherited from class artisynth.core.modelbase.ControllerBase
render

Methods inherited from class artisynth.core.modelbase.ControllerMonitorBase
copy, createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateBounds

Methods inherited from class artisynth.core.modelbase.ModelAgentBase
finalize, getModel, initialize, isActive, setActive, setModel, setModelFromComponent, write

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, 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

Methods inherited from interface maspack.render.IsSelectable
getSelection, isSelectable, numSelectionQueriesNeeded

Methods inherited from interface maspack.render.IsRenderable
getRenderHints, render, updateBounds

Methods inherited from interface maspack.render.HasRenderProps
createRenderProps, getRenderProps, setRenderProps

Methods inherited from interface artisynth.core.modelbase.ModelAgent
getModel, initialize, isActive, setModel

- Field Detail
  - DEFAULT_ENABLED
```
public static boolean DEFAULT_ENABLED
```
  - DEFAULT_MAX_EXCITATION_JUMP
```
public static double DEFAULT_MAX_EXCITATION_JUMP
```
  - DEFAULT_TARGETS_VISIBLE
```
public static boolean DEFAULT_TARGETS_VISIBLE
```
  - DEFAULT_SOURCES_VISIBLE
```
public static boolean DEFAULT_SOURCES_VISIBLE
```
  - DEFAULT_PROBE_DURATION
```
public static final double DEFAULT_PROBE_DURATION
```
    See Also:
    
    Constant Field Values
  - DEFAULT_PROBE_INTERVAL
```
public static final double DEFAULT_PROBE_INTERVAL
```
    See Also:
    
    Constant Field Values
  - DEFAULT_DEBUG
```
public static final boolean DEFAULT_DEBUG
```
    See Also:
    
    Constant Field Values
  - DEFAULT_USE_TIMESTEP_SCALING
```
public static boolean DEFAULT_USE_TIMESTEP_SCALING
```
  - DEFAULT_USE_KKT_FACTORIZATION
```
public static boolean DEFAULT_USE_KKT_FACTORIZATION
```
  - DEFAULT_NORMALIZE_COST_TERMS
```
public static boolean DEFAULT_NORMALIZE_COST_TERMS
```
  - DEFAULT_EXCITATION_BOUNDS
```
public static DoubleInterval DEFAULT_EXCITATION_BOUNDS
```
  - DEFAULT_USE_TRAPEZOIDAL_SOLVER
```
public static int DEFAULT_USE_TRAPEZOIDAL_SOLVER
```
  - DEFAULT_EXCITATION_REGULARIZATION_WEIGHT
```
public static final double DEFAULT_EXCITATION_REGULARIZATION_WEIGHT
```
    See Also:
    
    Constant Field Values
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - TrackingController
```
public TrackingController()
```
    Creates an empty tracking controller for scanning purposes.
  - TrackingController
```
public TrackingController(MechSystemBase m)
```
    Creates a tracking controller for a given mechanical system.
    
    Parameters:
    
    m - mech system, typically your "MechModel"
  - TrackingController
```
public TrackingController(MechSystemBase m,
                          java.lang.String name)
```
    Creates and names a tracking controller for a given mechanical system
    
    Parameters:
    
    m - mech system, typically your "MechModel"
    
    name - name to give the controller
- Method Detail
  - getAllPropertyInfo
```
public PropertyList getAllPropertyInfo()
```
    Returns a list giving static information about all properties exported by this object.
    
    Specified by:
    
    getAllPropertyInfo in interface HasProperties
    
    Overrides:
    
    getAllPropertyInfo in class ModelAgentBase
    
    Returns:
    
    static information for all exported properties
  - isEnabled
```
public boolean isEnabled()
```
    Queries whether or not this controller is enabled.
    
    Returns:
    
    true if this controller is enabled
  - getMaxExcitationJump
```
public double getMaxExcitationJump()
```
    Queries the maximum jump in excitation values permitted between steps.
    
    Returns:
    
    maximum jump in excitation values
  - setMaxExcitationJump
```
public void setMaxExcitationJump(double maxJump)
```
    Sets the maximum jump in excitation values permitted between steps. The default value is 1, which generally corresponds to no limit since excitations are usually bounded in the interval [0,1].
    
    Parameters:
    
    maxJump - maximum jump in excitation values
  - getTargetsVisible
```
public boolean getTargetsVisible()
```
    Queries whether the motion targets are being rendered.
    
    Returns:
    
    true if motion target rendering is enabled
  - setTargetsVisible
```
public void setTargetsVisible(boolean show)
```
    Enables rendering of the motion targets. Target rendering is enabled by default.
    
    Parameters:
    
    show - if true, enables motion target rendering
  - getSourcesVisible
```
public boolean getSourcesVisible()
```
    Queries whether the motion sources are being rendered.
    
    Returns:
    
    true if motion source rendering is enabled
  - setSourcesVisible
```
public void setSourcesVisible(boolean show)
```
    Enables rendering of the motion sources. Source rendering is enabled by default.
    
    Parameters:
    
    show - if true, enables motion source rendering
  - getProbeDuration
```
public double getProbeDuration()
```
    Queries the probe duration used by createProbes(RootModel) and createProbesAndPanel(RootModel).
    
    Returns:
    
    probe duration used when creating probes
  - setProbeDuration
```
public void setProbeDuration(double duration)
```
    Sets the probe duration used by createProbes(RootModel) and createProbesAndPanel(RootModel).
    
    Parameters:
    
    duration - probe duration to be used for subsequently created probes
  - getProbeUpdateInterval
```
public double getProbeUpdateInterval()
```
    Queries the output probe update interval used by createProbes(RootModel) and createProbesAndPanel(RootModel).
    
    Returns:
    
    output probe update interval
  - setProbeUpdateInterval
```
public void setProbeUpdateInterval(double h)
```
    Sets the output probe update interval used by createProbes(RootModel) and createProbesAndPanel(RootModel). A value of -1 causes the probes to be updated at the current simulation rate.
    
    Parameters:
    
    h - new output probe update interval
  - getDebug
```
public boolean getDebug()
```
    Queries whether or not debug messages are enabled.
    
    Returns:
    
    true if debug messages are enabled
  - setDebug
```
public void setDebug(boolean enable)
```
    Enables the printing of debug messages. This is disabled by default.
    
    Parameters:
    
    enable - if true, enables debug messages
  - getUseTimestepScaling
```
public boolean getUseTimestepScaling()
```
    Queries whether or not timestep scaling is enabled, as described in setUseTimestepScaling(boolean).
    
    Returns:
    
    true if timestep scaling is enabled
  - setUseTimestepScaling
```
public void setUseTimestepScaling(boolean enable)
```
    Enables timestep scaling. If enabled, then the H matrix and b vector of the motion and force tracking terms are scaled by 1/h, where h is the simulation step size, thus making these terms independent of the step size.
    Timestep scaling is disabled by default.
    
    Parameters:
    
    enable - if true, enables timestep scaling
  - getComputeIncrementally
```
public boolean getComputeIncrementally()
```
    Queries whether or not excitations are computed incrementally at each time step, as described in setComputeIncrementally(boolean).
    
    Returns:
    
    true if excitations are computed incrementally
  - setConfigExcitationColoring
```
public void setConfigExcitationColoring(boolean enable)
```
    Enables the automatic configuration of excitation coloring for exciters that support this capability. If enabled, then as these exciters are added to the controller, their excitationColor is inspected. If it is null, then it is set to red and the nominal exciter color is set to white, enabling a white-to-red color transition for the exciter as it is activated.
    
    Parameters:
    
    enable - if true, enables incremental computation
  - getConfigExcitationColoring
```
public boolean getConfigExcitationColoring()
```
    Queries whether or not the automatic configuration of excitation coloring for exciters is enabled, as described in setConfigExcitationColoring(boolean).
    
    Returns:
    
    true if configuring excitation coloring is enabled
  - setComputeIncrementally
```
public void setComputeIncrementally(boolean enable)
```
    Enables incremental computation. If enabled, then excitations are computed incrementatlly (as opposed to holistically) at each time step. The various QPTerms used by the controller should adjust their contributions to the quadratic program to reflect an incemental computation instead of a holistic one. Incremental computation is disabled by default.
    
    Parameters:
    
    enable - if true, enables incremental computation
  - getUseKKTFactorization
```
public boolean getUseKKTFactorization()
```
    Queries whether or not KKT factorization is enabled, as described in setUseKKTFactorization(boolean).
    
    Returns:
    
    true if KKT factorization is enabled
  - setUseKKTFactorization
```
public void setUseKKTFactorization(boolean enable)
```
    Enables or disables KKT factorization. If enabled, the KKT system of the mechanical model being controlled is refactored when calculating each excitation's velocity response. This increases computation time but gives more accurate and stable results.
    KKT factorization is disabled by default.
    
    Parameters:
    
    enable - if true, enables KKT factorization
  - getNormalizeH
```
public boolean getNormalizeH()
```
    Deprecated. Use getNormalizeCostTerms() intead.
  - setNormalizeH
```
public void setNormalizeH(boolean enable)
```
    Deprecated. Use setNormalizeCostTerms(boolean) intead.
  - getNormalizeCostTerms
```
public boolean getNormalizeCostTerms()
```
    Queries whether or not cost terms normalization is enabled, as described in setNormalizeCostTerms(boolean).
    
    Returns:
    
    true if cost term normalization is enabled
  - setNormalizeCostTerms
```
public void setNormalizeCostTerms(boolean enable)
```
    Enables or disbles normalization of the cost terms in the quadratic program. Normalization is done by dividing each term's Q matrix and b vector by the Frobenius norm of Q, before the term's weight is applied. This helps ensure that the cost term weights more inititively described the tradeoffs between terms.
    Cost term normalization is enabled by default.
    
    Parameters:
    
    enable - if true, enables normalization
  - getExcitationBounds
```
public DoubleInterval getExcitationBounds()
```
    Queries the current default bounds for the excitation values.
    
    Returns:
    
    default excitation bounds
  - setExcitationBounds
```
public void setExcitationBounds(DoubleInterval bounds)
```
    Sets the default bounds for the excitation values. By default, the bounds are set to [-inf,inf], correspnding to no effective bounds.
    
    Parameters:
    
    bounds - default excitation bounds
  - setExcitationBounds
```
public void setExcitationBounds(double lower,
                                double upper)
```
    Sets the default bounds for the excitation values. Same functionality as setExcitationBounds(DoubleInterval).
    
    Parameters:
    
    lower - lower excitation bound
    
    upper - upper excitation bound
  - getExcitationBoundsMode
```
public PropertyMode getExcitationBoundsMode()
```
    Queries the property inheritance mode for the excitation bounds.
    
    Returns:
    
    property inheritance mode for excitations
  - setExcitationBoundsMode
```
public void setExcitationBoundsMode(PropertyMode mode)
```
    Sets the property inheritance mode for the excitation bounds.
    
    Parameters:
    
    mode - property inheritance mode for excitations
  - getUseTrapezoidalSolver
```
public int getUseTrapezoidalSolver()
```
    Queries the use of a trapezoidal solver for setting up the excitation solve. See setUseTrapezoidalSolver(int).
    
    Returns:
    
    code indicating the use of a trapezoidal solver
  - setUseTrapezoidalSolver
```
public void setUseTrapezoidalSolver(int code)
```
    Sets when to use a trapezoidal solver for setting up the excitation solve. code = 1 means always, code = 0 means never, and code = -1 means automatic (match the solver being used by the underlying mechanical system).
    
    Parameters:
    
    code - controls when to use a trapezoidal solver
  - getKeepVelocityJacobianConstant
```
public boolean getKeepVelocityJacobianConstant()
```
    Queries if recomputation of the velocity Jacobian has been disabled, as described in setKeepVelocityJacobianConstant(boolean).
    
    Returns:
    
    true if velocity Jacobian recomputation is disabled
  - setKeepVelocityJacobianConstant
```
public void setKeepVelocityJacobianConstant(boolean enable)
```
    Disables recomputation of the velocity Jacobian. This actually gives incorrect results and is provided for comparison with legacy code only.
    
    Parameters:
    
    enable - if true, disables velocity Jacobian recomputation
  - setMech
```
public void setMech(MechSystemBase mech)
```
    Set the mechanical system being controlled. This is intended for internal use; applications will normally specify the mechanical system in the constructor.
    
    Parameters:
    
    mech - mechanical system being controlled
  - getMech
```
public MechSystemBase getMech()
```
    Queries the mechanical system being controlled.
    
    Returns:
    
    mechanical system being controlled.
  - getIntegrator
```
public MechSystemSolver.Integrator getIntegrator()
```
    Queries the integrator used by the mechanical system.
    
    Returns:
    
    integrator used by the mechanical system, or null if there is no system.
  - createProbes
```
public void createProbes(RootModel root)
```
    Convenience method that clears all existing probes and then creates a set of probes for controlling and monitoring the tracking controller. The probes start at time 0 and have a duration given by the controller's probeDuration property, while output probes are given an update interval specified by the controller's probeUpdateInterval property.
    The probes are created using the InverseManager.
    
    Parameters:
    
    root - root model to which the probes should be added
    
    See Also:
    
    getProbeDuration(), getProbeUpdateInterval()
  - createProbes
```
public void createProbes(RootModel root,
                         double duration,
                         double interval)
```
    Convenience method that clears all existing probes and then creates a set of probes for controlling and monitoring the tracking controller. A description of the created probes is given in the documentation header for InverseManager.
    The probes start at time 0 and stop at the time indicated by duration. The output probes are updated at the specified interval; if specified as -1, then the output probes are updated at the current simulation sample rate.
    The probes are created using the InverseManager.
    
    Parameters:
    
    root - root model to which the probes should be added
    
    duration - time duration for each probe
    
    interval - update interval for the output probes
  - createPanel
```
public void createPanel(RootModel root)
```
    Convenience method that creates a control panel for the tracking controller.
    
    Parameters:
    
    root - root model to which the panel should be added
  - createProbesAndPanel
```
public void createProbesAndPanel(RootModel root)
```
    Convenience method that creates both a set of probes and a control panel for the tracking controller, combining both createProbes(RootModel) and createPanel(artisynth.core.workspace.RootModel).
    
    Parameters:
    
    root - root model to which the probes and panel should be added
  - createProbesAndPanel
```
public void createProbesAndPanel(RootModel root,
                                 double duration,
                                 double interval)
```
    Convenience method that creates both a set of probes and a control panel for the tracking controller, combining both createProbes(RootModel,double,double) and createPanel(artisynth.core.workspace.RootModel).
    
    Parameters:
    
    root - root model to which the probes and panel should be added
    
    duration - time duration for each probe
    
    interval - update interval for the output probes
  - apply
```
public void apply(double t0,
                  double t1)
```
    Applies the controller, estimating and setting the next set of muscle activations
    
    Specified by:
    
    apply in interface Controller
    
    Parameters:
    
    t0 - time at start of simulation step
    
    t1 - time at end of simulation step
  - dispose
```
public void dispose()
```
    Clears all terms and disposes storage
    
    Specified by:
    
    dispose in interface ModelAgent
    
    Overrides:
    
    dispose in class ModelAgentBase
  - addExciter
```
public void addExciter(ExcitationComponent ex)
```
    Adds an excitation component to the set of exciters that can be used by the controller.
    
    Parameters:
    
    ex - exciter to add
  - addExciters
```
public void addExciters(java.util.Collection<? extends ExcitationComponent> exciters)
```
    Adds a collection of excitation component to the set of exciters that can be used by the controller.
    
    Parameters:
    
    exciters - exciter components to add
  - addExciter
```
public void addExciter(double weight,
                       ExcitationComponent ex)
```
    Adds an excitation component to the set of exciters that can be used by the controller.
    
    Parameters:
    
    weight - regularization weight to be applied to the exciter
    
    ex - exciter to add
  - getExciter
```
public ExcitationComponent getExciter(int idx)
```
    Returns the idx-th excitation component used by the controller.
    
    Parameters:
    
    idx - index of the desired exciter
    
    Returns:
    
    idx-th excitation component
  - numExciters
```
public int numExciters()
```
    Returns the number of excitation components used by the controller.
    
    Returns:
    
    number of exciters
  - clearExciters
```
public void clearExciters()
```
    Removes all exciters
  - getExciters
```
public ListView<ExcitationComponent> getExciters()
```
    Returns a list of the excitation components used by the inverse routine
    
    Returns:
    
    list of excitation components
  - setExcitationBounds
```
public void setExcitationBounds(ExcitationComponent ex,
                                double lower,
                                double upper)
```
    Sets the excitation bounds for a specific excitation component. By default, bounds for a specific exciter are inherited from the controller.
    
    Parameters:
    
    ex - excitation component to set bounds for
    
    lower - lower excitation bound
    
    upper - upper excitation bound
  - getExcitationBounds
```
public DoubleInterval getExcitationBounds(ExcitationComponent ex)
```
    Queries the excitation bounds for a specific excitation component.
    
    Parameters:
    
    ex - excitation component to request bounds for
    
    Returns:
    
    excitation bounds
  - setExcitations
```
public int setExcitations(VectorNd values,
                          int idx)
```
    Sets excitations provided in the ex vector starting at index idx. Both the controller's interval excitation values and the values in the exciter components are set.
    
    Parameters:
    
    values - vector of excitations to use
    
    idx - start index
    
    Returns:
    
    current index in the ex buffer idx+numExciters()
  - setExcitations
```
public void setExcitations(VectorNd values)
```
    Sets excitations to the values provided in the vector values. Both the controller's interval excitation values and the values in the exciter components are set.
    
    Parameters:
    
    values - vector of excitations to use
  - getExcitations
```
public int getExcitations(VectorNd values,
                          int idx)
```
    Fills the supplied values vector with current excitation values starting at index idx. These excitation values are reading directly from the exciter components.
    
    Parameters:
    
    values - vector of excitations to fill
    
    idx - starting index
    
    Returns:
    
    next index to use idx+numExciters()
  - getExcitations
```
public void getExcitations(VectorNd values)
```
    Returns the current excitation values in the vector values. These excitation values are reading directly from the exciter components.
    
    Parameters:
    
    values - vector in which to return excitations
  - getExcitations
```
public VectorNd getExcitations()
```
    Returns a vector containing all the current excitation values. The are values stored within the controller and are not the values within the exciters themselves. The vector has size numExciters() and must not be modified.
    
    Returns:
    
    vector of current excitation values
  - getExcitation
```
public double getExcitation(int k)
```
    Queries the current excitation value of the k-th exciter. k must be in the range 0 to numExciters()-1.
    
    Parameters:
    
    k - index of the excitation value to query
    
    Returns:
    
    k-th excitation value
  - initializeExcitations
```
public void initializeExcitations()
```
    Initialize the controller excitations with values currently stored in the exciter components, to allow for non-zero starting excitations.
  - setInitialExcitations
```
public void setInitialExcitations(VectorNd init)
```
    Sets initial excitations to the supplied values.
    
    Parameters:
    
    init - initial excitation values
  - getMotionTargetTerm
```
public MotionTargetTerm getMotionTargetTerm()
```
    Returns the standard motion term for this controller, responsible for motion tracking.
    
    Returns:
    
    standard motion term
  - getMotionTargetTermWeight
```
public double getMotionTargetTermWeight()
```
    Queries the weight of the motion term.
    
    Returns:
    
    motion term weight
  - setMotionTargetTermWeight
```
public void setMotionTargetTermWeight(double w)
```
    Sets the weight of the motion term. A larger weight increases the accuracy of the term relative to the other cost terms. The default value is 1.0.
    
    Parameters:
    
    w - motion term weight
  - addMotionTarget
```
public MotionTargetComponent addMotionTarget(MotionTargetComponent source)
```
    Deprecated. Use addPointTarget(Point) or addFrameTarget(Frame) instead.
  - addMotionTarget
```
public MotionTargetComponent addMotionTarget(MotionTargetComponent source,
                                             double weight)
```
    Deprecated. Use addPointTarget(Point,double) or addFrameTarget(Frame,double) instead.
  - addPointTarget
```
public TargetPoint addPointTarget(Point source)
```
    Adds a point source for motion tracking and creates a corresponding target component for specifying the target force and weights. This method is equivalent to calling addPointTarget(Point,double) with weight set to 1.0.
    
    Parameters:
    
    source - point to track
    
    Returns:
    
    the created target point
  - addPointTarget
```
public TargetPoint addPointTarget(Point source,
                                  double weight)
```
    Adds a point source for motion tracking and creates a corresponding target component for specifying the target force and weights.
    
    Parameters:
    
    source - point to track
    
    weight - weight to scale this target's contribution
    
    Returns:
    
    the created target point
  - addFrameTarget
```
public TargetFrame addFrameTarget(Frame source)
```
    Adds a frame source for motion tracking and creates a corresponding target component for specifying the target force and weights. This method is equivalent to calling addFrameTarget(Frame,double) with weight set to 1.0.
    
    Parameters:
    
    source - body to track
    
    Returns:
    
    the created target frame
  - addFrameTarget
```
public TargetFrame addFrameTarget(Frame source,
                                  double weight)
```
    Adds a frame source for motion tracking and creates a corresponding target component for specifying the target force and weights.
    
    Parameters:
    
    source - body to track
    
    weight - weight to scale this target's contribution
    
    Returns:
    
    the created target frame
  - removeMotionTarget
```
public boolean removeMotionTarget(MotionTargetComponent source)
```
    Removes a source component from motion tracking.
    
    Parameters:
    
    source - component to remove
    
    Returns:
    
    true if the component was present and removed
  - numMotionTargets
```
public int numMotionTargets()
```
    Returns the number of motion targets.
    
    Returns:
    
    number of motion targets
  - getTargetPointsRadius
```
public double getTargetPointsRadius()
```
  - setTargetsPointRadius
```
public void setTargetsPointRadius(double radius)
```
    Sets the sphere radius used for rendering target points.
    
    Parameters:
    
    radius - sphere radius for rendering target points
  - getMotionTargets
```
public java.util.ArrayList<MotionTargetComponent> getMotionTargets()
```
    Returns a list of all the motion target components. These are created internally by the controller, and are used to store the target positions that their corresponding source components should follow.
    
    Returns:
    
    list of all motion target components
  - getMotionSources
```
public java.util.ArrayList<MotionTargetComponent> getMotionSources()
```
    Returns a list of all motion source components. These are the model components that should follow the target positions contained in their corresponding target components.
    
    Returns:
    
    list of all motion source components
  - setMotionRenderProps
```
public void setMotionRenderProps(RenderProps targets,
                                 RenderProps sources)
```
    Sets the render properties used for rendering target and source components.
    
    Parameters:
    
    targets - render properties for target components
    
    sources - render properties for source components
  - getMotionTargetWeights
```
public VectorNd getMotionTargetWeights()
```
    Returns a vector of the individual weights for each motion target component.
    
    Returns:
    
    weights for each motion target
  - setMotionTargetWeight
```
public void setMotionTargetWeight(MotionTargetComponent comp,
                                  double w)
```
    Sets the weight for a specific motion target. The target may be specified either by its source or target component.
    
    Parameters:
    
    comp - source or target component for the motion target
    
    w - weight to be set
  - getMotionTargetWeight
```
public double getMotionTargetWeight(MotionTargetComponent comp)
```
    Queries the weight for a specific motion target. The target may be specified either by its source or target component.
    
    Parameters:
    
    comp - source or target component for the motion target
    
    Returns:
    
    weight of the target
  - getTargetPoints
```
public PointList<TargetPoint> getTargetPoints()
```
    Returns a list of all points which are being used as motion targets.
    
    Returns:
    
    list of motion target points
  - addForceEffectorTerm
```
public ForceEffectorTerm addForceEffectorTerm()
```
    Deprecated. The force effector term is now allocated on demand by getForceEffectorTerm() and other methods.
    
    Returns:
    
    standard force effector target term
  - getForceEffectorTerm
```
public ForceEffectorTerm getForceEffectorTerm()
```
    Returns the force effector target term, allocating it if necessary.
    
    Returns:
    
    force effector target term
  - removeForceEffectorTerm
```
public boolean removeForceEffectorTerm()
```
    Deprecated. The force effector term now remains in place once allocated. This method does nothing and returns false.
  - getForceEffectorTermWeight
```
public double getForceEffectorTermWeight()
```
    Queries the weight of the force effector term.
    
    Returns:
    
    force effector term weight
  - setForceEffectorTermWeight
```
public void setForceEffectorTermWeight(double w)
```
    Sets the weight of the force effector term. A larger weight increases the accuracy of the term relative to the other cost terms. The default value is 1.0.
    
    Parameters:
    
    w - force effector term weight
  - addForceEffectorTarget
```
public ForceEffectorTarget addForceEffectorTarget(ForceTargetComponent source)
```
    Adds a force effector component for force tracking and creates a corresponding ForceEffectorTarget for specifying the target force and weights. This method is equivalent to calling addForceEffectorTarget(ForceTargetComponent,double,boolean) with weight set to 1.0 and staticOnly set to true.
    
    Parameters:
    
    source - force effector component
    
    Returns:
    
    ForceEffectorTarget for managing the target forces
  - addForceEffectorTarget
```
public ForceEffectorTarget addForceEffectorTarget(ForceTargetComponent source,
                                                  double weight)
```
    Adds a force effector component for force tracking and creates a corresponding ForceEffectorTarget for specifying the target force and weights. This method is equivalent to calling addForceEffectorTarget(ForceTargetComponent,double,boolean) with staticOnly set to true.
    
    Parameters:
    
    source - force effector component
    
    weight - weight to scale this target's contribution
    
    Returns:
    
    ForceEffectorTarget for managing the target forces
  - addForceEffectorTarget
```
public ForceEffectorTarget addForceEffectorTarget(ForceTargetComponent source,
                                                  double weight,
                                                  boolean staticOnly)
```
    Adds a force effector icomponent for force tracking and creates a corresponding ForceEffectorTarget for specifying the target force and weights.
    
    Parameters:
    
    source - force effector component
    
    weight - weight to scale this target's contribution
    
    staticOnly - true if only static forces (i.e., those which are not velocity dependent) should be controlled
    
    Returns:
    
    ForceEffectorTarget for managing the target forces
  - removeForceEffectorTarget
```
public boolean removeForceEffectorTarget(ForceTargetComponent source)
```
    Removes a force effector component from force tracking.
    
    Parameters:
    
    source - force component to remove
    
    Returns:
    
    true if the component was present and removed
  - numForceEffectorTargets
```
public int numForceEffectorTargets()
```
    Returns the number of force effector targets.
    
    Returns:
    
    number of force effector targets
  - getForceEffectorTargets
```
public java.util.ArrayList<ForceEffectorTarget> getForceEffectorTargets()
```
    Returns a list of the ForceEffectorTargets for all the force effector components being controlled. These are created internally by the controller, and are used to store the target forces that their corresponding source components should follow.
    
    Returns:
    
    list of all ForceEffector target components.
  - getForceEffectorSources
```
public java.util.ArrayList<ForceTargetComponent> getForceEffectorSources()
```
    Returns a list of all the force effector components being controlled. These are the model components that should follow the target forces contained in their corresponding target components.
    
    Returns:
    
    list of all force effector source components.
  - addForceTargetTerm
```
public ForceTargetTerm addForceTargetTerm()
```
    Deprecated. Replaced by getConstraintForceTerm()
  - getForceTargetTerm
```
public ForceTargetTerm getForceTargetTerm()
```
    Deprecated. Replaced by getConstraintForceTerm()
  - removeForceTargetTerm
```
public void removeForceTargetTerm()
```
    Deprecated. The constraint force term now remains in place once allocated. This method therefore does nothing.
  - getConstraintForceTerm
```
public ConstraintForceTerm getConstraintForceTerm()
```
    Returns the constraint force target term, allocating it if necessary.
    
    Returns:
    
    constraint force target term
  - getConstraintForceTermWeight
```
public double getConstraintForceTermWeight()
```
    Queries the weight of the constraint force term.
    
    Returns:
    
    constraint force term weight
  - setConstraintForceTermWeight
```
public void setConstraintForceTermWeight(double w)
```
    Sets the weight of the constraint force term. A larger weight increases the accuracy of the term relative to the other cost terms. The default value is 1.0.
    
    Parameters:
    
    w - constraint force term weight
  - addConstraintForceTarget
```
public ConstraintForceTarget addConstraintForceTarget(BodyConnector bodyCon)
```
    Adds a body connector for constraint force tracking and creates a corresponding ConstraintForceTarget for specifying the target force and weights. This method is equivalent to calling addConstraintForceTarget(BodyConnector,double) with weight set to 1.0.
    
    Parameters:
    
    bodyCon - body connector
    
    Returns:
    
    ConstraintForceTarget for managing the target forces
  - addConstraintForceTarget
```
public ConstraintForceTarget addConstraintForceTarget(BodyConnector bodyCon,
                                                      double weight)
```
    Adds a body connector for constraint force tracking and creates a corresponding ConstraintForceTarget for specifying the target force and weights.
    
    Parameters:
    
    bodyCon - body connector
    
    weight - weight to scale this target's contribution
    
    Returns:
    
    ConstraintForceTarget for managing the target forces
  - removeConstraintForceTarget
```
public boolean removeConstraintForceTarget(BodyConnector bodyCon)
```
    Removes a body connector from constraint force tracking.
    
    Parameters:
    
    bodyCon - body connector to remove
    
    Returns:
    
    true if the connector was present and removed
  - numConstraintForceTargets
```
public int numConstraintForceTargets()
```
    Returns the number of constraint force targets.
    
    Returns:
    
    number of constraint force targets
  - getConstraintForceTargets
```
public java.util.ArrayList<ConstraintForceTarget> getConstraintForceTargets()
```
    Returns the ConstraintForceTargets for all the body connectors being controlled. These are created internally by the controller, and are used to store the target constraint forces that the body connectors should follow.
    
    Returns:
    
    list of ConstraintForceTargets components.
  - getConstraintForceSources
```
public java.util.ArrayList<BodyConnector> getConstraintForceSources()
```
    Returns all the BodyConnectors whose constraint forces are being controlled.
    
    Returns:
    
    list of BodyConnector source components.
  - addL2RegularizationTerm
```
public L2RegularizationTerm addL2RegularizationTerm()
```
    Deprecated. Use setL2Regularization() instead.
  - addL2RegularizationTerm
```
public L2RegularizationTerm addL2RegularizationTerm(double w)
```
    Deprecated. Use setL2Regularization(double) instead.
  - removeL2RegularizationTerm
```
public boolean removeL2RegularizationTerm()
```
    Deprecated. Use removeL2Regularization() instead.
  - setL2Regularization
```
public void setL2Regularization(double w)
```
    Enables L2 regularization with a specified weight.
    
    Parameters:
    
    w - regularization term weight
  - setL2Regularization
```
public void setL2Regularization()
```
    Enables L2 regularization with a default weight of 0.0001.
  - getL2RegularizationWeight
```
public double getL2RegularizationWeight()
```
    Return the weight assocation with L2 regularization, or 0 if regularization is not present.
  - removeL2Regularization
```
public boolean removeL2Regularization()
```
    Removes L2 regularization.
    
    Returns:
    
    true if L2 regularization was active
  - getL2RegularizationTerm
```
public L2RegularizationTerm getL2RegularizationTerm()
```
    Returns the L2 regularization term, or null if it is not present.
    
    Returns:
    
    standard L2 regularization term or null
  - addDampingTerm
```
public DampingTerm addDampingTerm()
```
    Deprecated. Use setExcitationDamping() instead.
  - addDampingTerm
```
public DampingTerm addDampingTerm(double w)
```
    Deprecated. Use setExcitationDamping(double) instead.
  - getDampingTerm
```
public DampingTerm getDampingTerm()
```
    Deprecated. Use getExcitationDampingTerm() instead.
  - removeDampingTerm
```
public boolean removeDampingTerm()
```
    Deprecated. Use removeExcitationDamping() instead.
  - setExcitationDamping
```
public void setExcitationDamping(double w)
```
    Enables excitation damping with a specified weight.
    
    Parameters:
    
    w - excitation damping weight
  - setExcitationDamping
```
public void setExcitationDamping()
```
    Enables excitation damping with a default weight of 1e-5.
  - getExcitationDampingWeight
```
public double getExcitationDampingWeight()
```
    Return the weight assocation with excitation damping, or 0 if damping is not present.
  - removeExcitationDamping
```
public boolean removeExcitationDamping()
```
    Removes excitation damping.
    
    Returns:
    
    true if damping was active
  - getExcitationDampingTerm
```
public DampingTerm getExcitationDampingTerm()
```
    Returns the excitation damping term, or null if it is not present.
    
    Returns:
    
    excitation damping term
  - addRegularizationTerms
```
public void addRegularizationTerms(java.lang.Double w_l2norm,
                                   java.lang.Double w_damping)
```
    Deprecated. Use setRegularization(double,double) instead.
  - setRegularization
```
public void setRegularization(double wL2,
                              double wdamping)
```
    Sets both L2 regularization and excitation damping with supplied weights. Either argument is ignored if it is negative.
    
    Parameters:
    
    wL2 - L2 regularization weight
    
    wdamping - excitation damping weight
  - getBoundsTerm
```
public BoundsTerm getBoundsTerm()
```
    Returns the standard excitation bounds term for this controller.
    
    Returns:
    
    standard excitation bounds term
  - addConstraintTerm
```
public void addConstraintTerm(QPConstraintTerm term)
```
    Adds a constraint term to this controller.
    
    Parameters:
    
    term - constraint term to add
  - removeConstraintTerm
```
public boolean removeConstraintTerm(QPConstraintTerm term)
```
    Removes a constraint term from this controller. This should not be one of the standard constraint terms, such as the bounds term, which is permanent.
    
    Parameters:
    
    term - constraint term to remove
    
    Returns:
    
    true if the term was present
  - addCostTerm
```
public void addCostTerm(QPCostTerm term)
```
    Adds a cost term to this controller.
    
    Parameters:
    
    term - cost term to add
  - removeCostTerm
```
public boolean removeCostTerm(QPCostTerm term)
```
    Remove a cost term from this controller. This should not be one of the standard cost terms, such as the motion target, L2 regularization, force target, force effector or damping terms, which are either permanent or have their own remove methods.
    
    Parameters:
    
    term - cost term to remove
    
    Returns:
    
    true if the term was present
  - getCostTerms
```
public java.util.ArrayList<QPCostTerm> getCostTerms()
```
    Retrieves a list of all costs terms, including the standard ones.
    
    Returns:
    
    list of cost terms
  - getEqualityConstraints
```
public java.util.ArrayList<QPConstraintTerm> getEqualityConstraints()
```
    Retrieves a list of all equality constraint terms, including the standard ones.
    
    Returns:
    
    list of equality constraint terms
  - getInequalityConstraints
```
public java.util.ArrayList<QPConstraintTerm> getInequalityConstraints()
```
    Retrieves a list of all inequality constraint terms, including the standard ones.
    
    Returns:
    
    list of inequality constraint terms
  - prerender
```
public void prerender(RenderList list)
```
    Description copied from interface: IsRenderable
    
    Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling
    list.addIfVisible (obj);
    for each of the objects in question.
    
    Specified by:
    
    prerender in interface IsRenderable
    
    Overrides:
    
    prerender in class ControllerMonitorBase
    
    Parameters:
    
    list - list of objects to be rendered
  - 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
  - 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
```
    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
```
    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)
  - hasState
```
public boolean hasState()
```
    Queries if this component has state. Structure change events involving components that have state will cause the current state history of of the system to be cleared.
    
    Specified by:
    
    hasState in interface ModelComponent
    
    Overrides:
    
    hasState in class ControllerMonitorBase
    
    Returns:
    
    true if this component has state
  - createState
```
public ComponentState createState(ComponentState prevState)
```
    Factory routine to create a state object for this component, which can then be used as an argument for HasState.setState(artisynth.core.modelbase.ComponentState) and HasState.getState(artisynth.core.modelbase.ComponentState). The state object does not have to be set to the component's current state. If the component does not have any state information, this method should return an instance of EmptyState.
    
    Specified by:
    
    createState in interface HasState
    
    Overrides:
    
    createState in class ControllerMonitorBase
    
    Parameters:
    
    prevState - If non-null, supplies a previous state that was created by this component and which can be used to provide pre-sizing hints.
    
    Returns:
    
    new object for storing this component's state
  - getState
```
public void getState(ComponentState state)
```
    Get the current state of this component.
    
    Specified by:
    
    getState in interface HasState
    
    Overrides:
    
    getState in class ControllerMonitorBase
    
    Parameters:
    
    state - receives the state information
  - setState
```
public void setState(ComponentState state)
```
    Set the state of this component.
    
    Specified by:
    
    setState in interface HasState
    
    Overrides:
    
    setState in class ControllerMonitorBase
    
    Parameters:
    
    state - state to be copied
  - getInitialState
```
public void getInitialState(ComponentState newstate,
                            ComponentState oldstate)
```
    Gets an initial state for this component and returns the value in state. If prevstate is non-null, then it is assumed to contain a previous initial state value returned by this method, and state should be set to be as consistent with this previous state as possible. For example, suppose that this component currently contains subcomponents A, B, and C, while the prevstate contains the state from a previous time when it had components B, C, and D. Then state should contain substate values for B and C that are taken from prevstate. To facilitate this, the information returned in state should contain additional information such as the identities of all the (current) subcomponents.
    
    Specified by:
    
    getInitialState in interface HasState
    
    Overrides:
    
    getInitialState in class ControllerMonitorBase
    
    Parameters:
    
    newstate - receives the state information
    
    oldstate - previous state information; may be null.
  - getU0
```
public VectorNd getU0()
```
    Returns the most recently computed u0 vector for the excitation response. See ExcitationResponse for details.
    
    Returns:
    
    u0 vector for the excitation response. Should not be modified.
  - getHuCol
```
public VectorNd getHuCol(int j)
```
    Returns the j-th column of most recently computed Hu matrix for the excitation response. See ExcitationResponse for details.
    
    Parameters:
    
    j - requested column from the Hu matrix
    
    Returns:
    
    j-th column of Hu for the excitation response. Should not be modified.
  - getLam0
```
public VectorNd getLam0()
```
    Returns the most recently computed lam0 vector for the excitation response. See ExcitationResponse for details.
    
    Returns:
    
    lam0 vector for the excitation response. Should not be modified.
  - getHlamCol
```
public VectorNd getHlamCol(int j)
```
    Returns the j-th column of most recently computed Hlam matrix for the excitation response. See ExcitationResponse for details.
    
    Parameters:
    
    j - requested column from the Hlam matrix
    
    Returns:
    
    j-th column of Hlam for the excitation response. Should not be modified.
  - createAndAddFrameExciters
```
public FrameExciter[] createAndAddFrameExciters(TrackingController ctrl,
                                                MechModel mech,
                                                Frame frame,
                                                double maxForce,
                                                double maxMoment)
```
    Creates a complete set of FrameExciters for a given frame and adds them to a MechModel and to a controller.
    
    Parameters:
    
    ctrl - Tracking controller to add the exciters to
    
    mech - MechModel to add the exciters to
    
    frame - frame for which the exciters should be created
    
    maxForce - maximum translational force along any axis
    
    maxMoment - maximum moment about any axis
  - getChildren
```
public java.util.Iterator<? extends HierarchyNode> getChildren()
```
    Specified by:
    
    getChildren in interface HierarchyNode
    
    Overrides:
    
    getChildren in class ModelComponentBase
  - hasChildren
```
public boolean hasChildren()
```
    Specified by:
    
    hasChildren in interface HierarchyNode
    
    Overrides:
    
    hasChildren in class ModelComponentBase
  - setLegacyMotionControl
```
public void setLegacyMotionControl()
```
    Sets property settings in the controller and motion control to those used before PD and chase control were redesigned.

Class TrackingController

Nested Class Summary

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

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

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.modelbase.ControllerBase

Methods inherited from class artisynth.core.modelbase.ControllerMonitorBase

Methods inherited from class artisynth.core.modelbase.ModelAgentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.util.Scannable

Methods inherited from interface maspack.render.IsSelectable

Methods inherited from interface maspack.render.IsRenderable

Methods inherited from interface maspack.render.HasRenderProps

Methods inherited from interface artisynth.core.modelbase.ModelAgent

Field Detail

DEFAULT_ENABLED

DEFAULT_MAX_EXCITATION_JUMP

DEFAULT_TARGETS_VISIBLE

DEFAULT_SOURCES_VISIBLE

DEFAULT_PROBE_DURATION

DEFAULT_PROBE_INTERVAL

DEFAULT_DEBUG

DEFAULT_USE_TIMESTEP_SCALING

DEFAULT_USE_KKT_FACTORIZATION

DEFAULT_NORMALIZE_COST_TERMS

DEFAULT_EXCITATION_BOUNDS

DEFAULT_USE_TRAPEZOIDAL_SOLVER

DEFAULT_EXCITATION_REGULARIZATION_WEIGHT

myProps

Constructor Detail

TrackingController

TrackingController

TrackingController

Method Detail

getAllPropertyInfo

isEnabled

getMaxExcitationJump

setMaxExcitationJump

getTargetsVisible

setTargetsVisible

getSourcesVisible

setSourcesVisible

getProbeDuration

setProbeDuration

getProbeUpdateInterval

setProbeUpdateInterval

getDebug

setDebug

getUseTimestepScaling

setUseTimestepScaling

getComputeIncrementally

setConfigExcitationColoring

getConfigExcitationColoring

setComputeIncrementally

getUseKKTFactorization

setUseKKTFactorization

getNormalizeH

setNormalizeH

getNormalizeCostTerms

setNormalizeCostTerms

getExcitationBounds

setExcitationBounds

setExcitationBounds

getExcitationBoundsMode

setExcitationBoundsMode

getUseTrapezoidalSolver

setUseTrapezoidalSolver

getKeepVelocityJacobianConstant

setKeepVelocityJacobianConstant

setMech

getMech

getIntegrator

createProbes