artisynth.core.inverse

Interface TrackingTarget

All Superinterfaces:

HasProperties, HierarchyNode, ModelComponent, PostScannable, Scannable

All Known Implementing Classes:

ConstraintForceTarget, ForceEffectorTarget, ForceTarget, TargetFrame, TargetPoint

public interface TrackingTarget
extends ModelComponent

Interface for tracking controller target components. A target component is created for each motion or force target that is added to the controller, and is used to specify the desired target trajectory and associated weights.

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Method Summary

Modifier and Type	Method and Description
ModelComponent	getSourceComp() Returns the source component associated with this target.
Vector	getSubWeights() Queries the subweights of this target.
int	getTargetSize() Queries the number of DOFs in the target.
double	getWeight() Queries the weight of this target.
void	setSubWeights(VectorNd subw) Sets the subweights for this target.
void	setWeight(double w) Sets the weight for this target.

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

getTargetSize

int getTargetSize()

Queries the number of DOFs in the target.

Returns:

number of target DOFs

getWeight

double getWeight()

Queries the weight of this target.

Returns:

target weight

See Also:

setWeight(double)

setWeight

void setWeight(double w)

Sets the weight for this target. Target weights have a default value of 1, and are used to prioritize this target in the tracking computation. Targets with higher weights will be tracked more accurately; targets with a weight of 0 will not be tracked at all.

Parameters:

w - new target weight

See Also:

getWeight()

getSubWeights

Vector getSubWeights()

Queries the subweights of this target.

Returns:

target subweights

See Also:

setSubWeights(maspack.matrix.VectorNd)

setSubWeights

void setSubWeights(VectorNd subw)

Sets the subweights for this target. The number of subweights is equal to getTargetSize(), and each has a default value of 1. Subweights are multiplied by the target weight (returned by getWeight()) to yield a net weight used to prioritize each degree of freedom in the tracking computation, with higher weights resulting in more accurate tracking and a weight of 0 resulting in no tracking at all.

Parameters:

subw - new target subweights

See Also:

getSubWeights()

getSourceComp

ModelComponent getSourceComp()

Returns the source component associated with this target. This is the component whose positions or forces are intended to track the desired target.

Returns:

target source component