artisynth.core.mechmodels

Interface ForceTargetComponent

All Superinterfaces:

ForceEffector, HasProperties, HierarchyNode, ModelComponent, PostScannable, Scannable

All Known Implementing Classes:

AxialSpring, FrameSpring, Muscle

public interface ForceTargetComponent
extends ForceEffector, ModelComponent

Indicates a force effector whose force can be controlled by the the inverse controller.

Nested Class Summary

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Method Summary

Modifier and Type	Method and Description
int	addForcePosJacobian(SparseBlockMatrix J, double h, boolean staticOnly, int bi) Add a row to the force Jacobian for this force target component.
int	addForceVelJacobian(SparseBlockMatrix J, double h, int bi)
void	getForce(VectorNd minf, boolean staticOnly)
int	getForceSize()

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

addPosJacobian, addSolveBlocks, addVelJacobian, applyForces, getJacobianType

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

getForceSize

int getForceSize()

getForce

void getForce(VectorNd minf,
              boolean staticOnly)

addForcePosJacobian

int addForcePosJacobian(SparseBlockMatrix J,
                        double h,
                        boolean staticOnly,
                        int bi)

Add a row to the force Jacobian for this force target component. The Jacobian maps state velocities u into the forces fm that should be minimized

 fm = J u
 

Parameters:

J - force Jacobian

h - current time step

bi - block row index for the row to be added

staticOnly - use only static forces

Returns:

bi + 1

addForceVelJacobian

int addForceVelJacobian(SparseBlockMatrix J,
                        double h,
                        int bi)