artisynth.core.probes

Class IKProbe

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.ModelAgentBase

artisynth.core.probes.Probe

artisynth.core.probes.NumericProbeBase

artisynth.core.probes.NumericDataFunctionProbe

artisynth.core.probes.NumericControlProbe

artisynth.core.probes.IKProbe

All Implemented Interfaces:

Displayable, CopyableComponent, HasState, ModelAgent, ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class IKProbe
extends NumericControlProbe

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.probes.Probe

Probe.ExportProps, Probe.ImportExportFileInfo

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	DEFAULT_BODIES_NON_DYNAMIC_IF_ACTIVE
static PropertyList	myProps

Fields inherited from class artisynth.core.probes.NumericControlProbe

EXPLICIT_TIME

Fields inherited from class artisynth.core.probes.NumericProbeBase

mySmallDisplay

Fields inherited from class artisynth.core.probes.Probe

useOldSaveMethod, writeStartStopTimeInSeconds

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
IKProbe() Empty constructor required for write/scan.
IKProbe(java.lang.String name, MechModel mech, java.util.Collection<FrameMarker> mkrs, VectorNd wgts, double startTime, double stopTime)
IKProbe(java.lang.String name, MechModel mech, java.util.Collection<FrameMarker> mkrs, VectorNd wgts, java.lang.String fileName)

Method Summary

Modifier and Type	Method and Description
void	applyData(VectorNd vec, double t, double trel) Applies the current numeric data of this probe, as input in the argument vec, and uses it to update the simulation for either the current absolute time t or probe relative time trel.
ModelComponent	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
boolean	getBodiesNonDynamicIfActive() Queries the bodiesNonDynamicIfActive property of this probe.
double	getConvergenceTol() Queries the convergance tolerance used in each IK solve step.
java.util.ArrayList<FrameMarker>	getMarkers() Returns the markers used by this IKProbe
double	getMassRegularization() Queries the mass regulaization coefficient for this IKProbe.
int	getMaxIterations() Queries the maximum number of iterations allowed in each IK solve step.
IKSolver.SearchStrategy	getSearchStrategy() Queries the least-squares search strategy for the IK solve steps.
IKSolver	getSolver() Returns the IKSolver used by this probe.
boolean	isSettable()
int	numMarkers() Returns the number of markers used by this IKProbe.
boolean	postscanItem(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor)
void	resetBodiesDynamic() Restore the dynamic property setting of all the bodies associated with this probe to their value at initialization.
boolean	scanItem(ReaderTokenizer rtok, java.util.Deque<ScanToken> tokens)
void	setActive(boolean enable)
void	setBodiesDynamic(boolean dynamic) Sets the dynamic property of all the bodies associated with this probe.
void	setBodiesNonDynamicIfActive(boolean enable) Sets the bodiesNonDynamicIfActive property of this probe.
void	setConvergenceTol(double tol) Sets the convergance tolerance tol used in each IK solve step.
void	setData(double t)
void	setMassRegularization(double c) Sets the mass regulaization coefficient for this IKProbe.
void	setMaxIterations(int maxi) Set the maximum number of iterations allowed in each IK solve step.
void	setSearchStrategy(IKSolver.SearchStrategy strat) Sets the least-squares search strategy for the IK solve steps.
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor) Write probe attributes to a PrintWriter

Methods inherited from class artisynth.core.probes.NumericControlProbe

addData, addData, addData, addData, addData, addData, apply, clone, getCopyReferences, getExtendData, getInput, isInput, load, loadEmpty, postscan, read, save, scan, setAttachedFileName, setAttachedFileName, setExtendData, setVsize, write

Methods inherited from class artisynth.core.probes.NumericDataFunctionProbe

createState, getDataFunction, getInitialState, getState, hasState, isCloneable, isDuplicatable, setDataFunction, setState

Methods inherited from class artisynth.core.probes.NumericProbeBase

applyDefaultDisplayRanges, clearData, decreaseDisplayRanges, dispose, exportCsvData, exportCsvData, exportData, exportTextData, exportTextData, getAttachedProperties, getData, getData, getDefaultDisplayMax, getDefaultDisplayMin, getDefaultDisplayRange, getDisplay, getDrivers, getExportFileInfo, getExportProps, getFormat, getImportFileInfo, getInterpolation, getInterpolationOrder, getLegend, getMatlabName, getMinMaxValues, getNumericList, getOrderedTraceIndex, getPlotTraceInfo, getRotationRep, getRotationSubvecOffsets, getTraceColor, getTraceLabel, getTraceManager, getValues, getVariables, getVisibleMinMaxValues, getVisibleRange, getVisibleRange, getVsize, importCsvData, importData, importText, importTextData, increaseDisplayRanges, isDisplayable, isEmpty, isPrintable, isSmallDisplayVisible, isTraceVisible, isValidVariableName, isWritable, loadFromMatlab, print, removeDisplay, removeLegend, resetTraceColors, resetTraceOrder, saveToMatlab, scaleNumericList, setData, setData, setDefaultDisplayRange, setDefaultDisplayRange, setFormat, setInterpolation, setInterpolationOrder, setLegend, setLegendLabels, setScale, setSmallDisplayVisible, setTraceColor, setTraceLabel, setTraceOrder, setTraceVisible, setValues, setValues, smoothWithMovingAverage, smoothWithSavitzkyGolay, swapPlotTraceOrder, updateDisplays, updateDisplays, updateDisplaysForPropertyChanges, updateDisplaysWithoutAutoRanging, writeText

Methods inherited from class artisynth.core.probes.Probe

getAttachedFile, getAttachedFileName, getChildren, getClippedVirtualTime, getDefaultScale, getDefaultStartTime, getDefaultStopTime, getDefaultUpdateInterval, getDuration, getExportFile, getExportFileName, getFileFromPath, getImportFile, getImportFileName, getPathFromFile, getProperty, getScale, getStartTime, getStopTime, getTimelineTime, getTrack, getUpdateInterval, getVirtualTime, hasAttachedFile, hasChildren, isAttachedFileRelative, isEditable, isEventTime, isScalable, nextEventTime, setExportFileName, setImportFileName, setInterval, setName, setScalable, setStartStopTimes, setStartTime, setStopTime, setTrack, setUpdateInterval

Methods inherited from class artisynth.core.modelbase.ModelAgentBase

finalize, getModel, initialize, isActive, setModel, setModelFromComponent, write

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isScanning, isSelected, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences

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.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

DEFAULT_BODIES_NON_DYNAMIC_IF_ACTIVE

public static final boolean DEFAULT_BODIES_NON_DYNAMIC_IF_ACTIVE

See Also:

Constant Field Values

myProps

public static PropertyList myProps

Constructor Detail

IKProbe

public IKProbe()

Empty constructor required for write/scan.

IKProbe

public IKProbe(java.lang.String name,
               MechModel mech,
               java.util.Collection<FrameMarker> mkrs,
               VectorNd wgts,
               double startTime,
               double stopTime)

IKProbe

public IKProbe(java.lang.String name,
               MechModel mech,
               java.util.Collection<FrameMarker> mkrs,
               VectorNd wgts,
               java.lang.String fileName)
        throws java.io.IOException

Throws:

java.io.IOException

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from interface: HasProperties

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class NumericControlProbe

Returns:

static information for all exported properties

getMassRegularization

public double getMassRegularization()

Queries the mass regulaization coefficient for this IKProbe.

Returns:

mass regulaization coefficient

See Also:

setMassRegularization(double)

setMassRegularization

public void setMassRegularization(double c)

Sets the mass regulaization coefficient for this IKProbe. The default value is 0.001. See IKSolver.setMassRegularization(double) for details.

Parameters:

c - mass regulaization coefficient

See Also:

getMassRegularization()

getMaxIterations

public int getMaxIterations()

Queries the maximum number of iterations allowed in each IK solve step.

Returns:

maximum number of solve iterations

See Also:

setMaxIterations(int)

setMaxIterations

public void setMaxIterations(int maxi)

Set the maximum number of iterations allowed in each IK solve step. The default value is 20.

Parameters:

maxi - maximum number of solve iterations

See Also:

getMaxIterations()

getConvergenceTol

public double getConvergenceTol()

Queries the convergance tolerance used in each IK solve step. #see #setConvergenceTol

Returns:

convergence tolerance

setConvergenceTol

public void setConvergenceTol(double tol)

Sets the convergance tolerance tol used in each IK solve step. See IKSolver.setConvergenceTol(double) for details. #see #getConvergenceTol

Parameters:

tol - convergence tolerance

getSearchStrategy

public IKSolver.SearchStrategy getSearchStrategy()

Queries the least-squares search strategy for the IK solve steps. #see #setSearchStrategy

Returns:

IK search strategy

setSearchStrategy

public void setSearchStrategy(IKSolver.SearchStrategy strat)

Sets the least-squares search strategy for the IK solve steps. #see #getSearchStrategy

Parameters:

strat - IK search strategy

getBodiesNonDynamicIfActive

public boolean getBodiesNonDynamicIfActive()

Queries the bodiesNonDynamicIfActive property of this probe. See setBodiesNonDynamicIfActive(boolean) for details.

Returns:

true if bodiesNonDynamicIfActive is enabled.

setBodiesNonDynamicIfActive

public void setBodiesNonDynamicIfActive(boolean enable)

Sets the bodiesNonDynamicIfActive property of this probe. If true, then the dynamic property of the bodies associated with this probe is set false when the probe is active. When the probe transitions to being inactive, resetBodiesDynamic() is called.

Parameters:

enable - new value for the bodiesNonDynamicIfActive property of this probe

getSolver

public IKSolver getSolver()

Returns the IKSolver used by this probe.

Returns:

probe's IKSolver

setActive

public void setActive(boolean enable)

Overrides:

setActive in class ModelAgentBase

applyData

public void applyData(VectorNd vec,
                      double t,
                      double trel)

Description copied from class: NumericControlProbe

Applies the current numeric data of this probe, as input in the argument vec, and uses it to update the simulation for either the current absolute time t or probe relative time trel. The size of vec will equal the vector size of the probe (as returned by NumericProbeBase.getVsize(). Probe relative time is determined from the probe's start time and scale factor using

 trel = (t - startTime)/scale 

.

Overrides:

applyData in class NumericControlProbe

Parameters:

vec - supplies the current numeric data

t - absolute time (seconds)

trel - probe relative time

setData

public void setData(double t)

Overrides:

setData in class NumericControlProbe

setBodiesDynamic

public void setBodiesDynamic(boolean dynamic)

Sets the dynamic property of all the bodies associated with this probe.

Parameters:

dynamic - setting for each body's dynamic property

resetBodiesDynamic

public void resetBodiesDynamic()

Restore the dynamic property setting of all the bodies associated with this probe to their value at initialization.

isSettable

public boolean isSettable()

Overrides:

isSettable in class NumericControlProbe

scanItem

public boolean scanItem(ReaderTokenizer rtok,
                        java.util.Deque<ScanToken> tokens)
                 throws java.io.IOException

Overrides:

scanItem in class NumericControlProbe

Throws:

java.io.IOException

postscanItem

public boolean postscanItem(java.util.Deque<ScanToken> tokens,
                            CompositeComponent ancestor)
                     throws java.io.IOException

Throws:

java.io.IOException

writeItems

public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException

Description copied from class: Probe

Write probe attributes to a PrintWriter

Overrides:

writeItems in class NumericControlProbe

Parameters:

pw - writer to which components are written

fmt - format for floating point numbers

ancestor - ancestor component which respect to which references are expressed

Throws:

java.io.IOException - if an I/O error occurred

copy

public ModelComponent copy(int flags,
                           java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If COPY_REFERENCES is set in flags, then any component referenced by this component should itself be set to a copy. This should be done first checking copyMap for an existing copy of the referenced component. If there is no existing copy, then a copy should be created by calling copy recursively and adding the new copy to copyMap.

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class NumericControlProbe

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

getMarkers

public java.util.ArrayList<FrameMarker> getMarkers()

Returns the markers used by this IKProbe

Returns:

markers used by this probe

numMarkers

public int numMarkers()

Returns the number of markers used by this IKProbe.

Returns:

number of markers used by this probe