artisynth.core.inverse

Class TargetPoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Point

artisynth.core.inverse.TargetPoint

All Implemented Interfaces:

TrackingTarget, CollidableDynamicComponent, DynamicAgent, DynamicComponent, ForceEffector, MotionTargetComponent, CopyableComponent, HasNumericState, ModelComponent, PostScannable, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class TargetPoint
extends Point
implements TrackingTarget

A specialized Point class used to store and render the target position for points being tracked by the tracking controller.

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static Vector3d	DEFAULT_SUB_WEIGHTS
static double	DEFAULT_WEIGHT
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.Point

myRenderCoords

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

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
TargetPoint()
TargetPoint(Point3d pnt)

Method Summary

Modifier and Type	Method and Description
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
void	getHardReferences(java.util.List<ModelComponent> refs) Appends all hard references for this component to a list.
Point	getSourceComp() Returns the source component associated with this target.
Vector3d	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(Vector3d w)
void	setSubWeights(VectorNd w) Sets the subweights for this target.
void	setWeight(double w) Sets the weight for this target.
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.

Methods inherited from class artisynth.core.mechmodels.Point

addEffectiveMass, addExternalForce, addForce, addForce, addPosImpulse, addPosJacobian, addScaledExternalForce, addScaledForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addToSolveBlockDiagonal, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, applyGravity, copy, createMassBlock, createRenderProps, createSolveBlock, defaultRenderPropsAreNull, distance, distance, getCopyReferences, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getExternalForce, getForce, getForce, getJacobianType, getMass, getMass, getPointDamping, getPointDampingMode, getPosDerivative, getPosition, getPosition, getPosState, getPosStateSize, getRenderCoords, getRenderProps, getSelection, getState, getTargetActivity, getTargetPos, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getVelocity, getVelocity, getVelState, getVelStateSize, hasForce, isDuplicatable, isMassConstant, isSelectable, mulInverseEffectiveMass, prerender, render, resetEffectiveMass, resetTargets, scaleDistance, scaleMass, setContactConstraint, setExternalForce, setForce, setForce, setPointDamping, setPointDampingMode, setPosition, setPosition, setPosState, setRandomForce, setRandomPosState, setRandomVelState, setRenderProps, setScaledExternalForce, setState, setState, setTargetActivity, setTargetPos, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, subForce, updateBounds, updatePosState, updateVelState, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getConstrainers, getInverseMass, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, isVisible, numSelectionQueriesNeeded, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, 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, 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

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

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getInverseMass, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformGeometry, transformPriority

Field Detail

DEFAULT_WEIGHT

public static final double DEFAULT_WEIGHT

See Also:

Constant Field Values

DEFAULT_SUB_WEIGHTS

public static final Vector3d DEFAULT_SUB_WEIGHTS

myProps

public static PropertyList myProps

Constructor Detail

TargetPoint

public TargetPoint()

TargetPoint

public TargetPoint(Point3d pnt)

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 Point

Returns:

static information for all exported properties

getWeight

public double getWeight()

Description copied from interface: TrackingTarget

Queries the weight of this target.

Specified by:

getWeight in interface TrackingTarget

Returns:

target weight

See Also:

TrackingTarget.setWeight(double)

setWeight

public void setWeight(double w)

Description copied from interface: TrackingTarget

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.

Specified by:

setWeight in interface TrackingTarget

Parameters:

w - new target weight

See Also:

TrackingTarget.getWeight()

getSubWeights

public Vector3d getSubWeights()

Description copied from interface: TrackingTarget

Queries the subweights of this target.

Specified by:

getSubWeights in interface TrackingTarget

Returns:

target subweights

See Also:

TrackingTarget.setSubWeights(maspack.matrix.VectorNd)

setSubWeights

public void setSubWeights(Vector3d w)

setSubWeights

public void setSubWeights(VectorNd w)

Description copied from interface: TrackingTarget

Sets the subweights for this target. The number of subweights is equal to TrackingTarget.getTargetSize(), and each has a default value of 1. Subweights are multiplied by the target weight (returned by TrackingTarget.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.

Specified by:

setSubWeights in interface TrackingTarget

Parameters:

w - new target subweights

See Also:

TrackingTarget.getSubWeights()

getTargetSize

public int getTargetSize()

Description copied from interface: TrackingTarget

Queries the number of DOFs in the target.

Specified by:

getTargetSize in interface TrackingTarget

Returns:

number of target DOFs

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Description copied from interface: TransformableGeometry

Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.

This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).

TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.

This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).

Specified by:

transformGeometry in interface TransformableGeometry

Overrides:

transformGeometry in class Point

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

getSourceComp

public Point getSourceComp()

Description copied from interface: TrackingTarget

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

Specified by:

getSourceComp in interface TrackingTarget

Returns:

target source component

getHardReferences

public void getHardReferences(java.util.List<ModelComponent> refs)

Description copied from class: ModelComponentBase

Appends all hard references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.

Specified by:

getHardReferences in interface ModelComponent

Overrides:

getHardReferences in class ModelComponentBase

Parameters:

refs - list to which hard references are appended