Examples with ForceTargetTerm artisynth.core.inverse.ForceTargetTerm used on opensource projects

Example 1 with ForceTargetTerm

use of artisynth.core.inverse.ForceTargetTerm in project artisynth_core by artisynth.

the class ForceTargetDemo method addTrackingController.

public void addTrackingController(FrameMarker mkr) throws IOException {
    TrackingController myTrackingController = new TrackingController(mech, "tcon");
    for (AxialSpring s : mech.axialSprings()) {
        if (s instanceof Muscle) {
            myTrackingController.addExciter((Muscle) s);
        }
    }
    // myTrackingController.addTerm(new StiffnessTerm(model, center));
    // StiffnessTerm kTerm = TrackingController.addStiffnessTarget(center, new int[]{0,2});
    // kTerm.setStiffnessTargetType(StiffnessTargetType.DIAG);
    // ComplianceTerm2d cterm = new ComplianceTerm2d(TrackingController, center, new int[]{0,2});
    // cterm.setComplianceTargetType(StiffnessTargetType.DIAG);
    // TrackingController.addTerm(cterm);
    myTrackingController.addL2RegularizationTerm();
    // myTrackingController.addTerm(new DampingTerm(TrackingController));
    // myTrackingController.addTerm(new StaticMotionTargetTerm(TrackingController));
    myTrackingController.addMotionTarget(mkr);
    setPointRenderProps((TargetPoint) myTrackingController.getMotionTargets().get(0));
    ForceTargetTerm mft = new ForceTargetTerm(myTrackingController);
    // mft.addMotionTarget(mkr);
    // setPointRenderProps((TargetPoint) mft.getMotionTargets ().get (0));
    double[] lam = { -3.5 };
    VectorNd tarlam = new VectorNd(lam);
    if (cons == true) {
        ForceTarget ft = mft.addForceTarget(con);
        ft.setTargetLambda(tarlam);
    }
    if (two_cons == true) {
        ForceTarget ft = mft.addForceTarget(con2);
        ft.setTargetLambda(tarlam);
    }
    if (force == true) {
        myTrackingController.addForceTargetTerm(mft);
    }
    // myTrackingController.getSolver().setBounds(0.01, 0.99);
    // setWorkingDir();
    // loadForceInputProbe(mft);
    myTrackingController.setProbeDuration(10.0);
    myTrackingController.createProbesAndPanel(this);
    addController(myTrackingController);
    reloadTargetProbeData();
}

Example 2 with ForceTargetTerm

use of artisynth.core.inverse.ForceTargetTerm in project artisynth_core by artisynth.

the class PointModel method addTrackingController.

public void addTrackingController() {
    TrackingController myTrackingController = new TrackingController(model, "tcon");
    for (AxialSpring s : model.axialSprings()) {
        if (s instanceof Muscle) {
            myTrackingController.addExciter((Muscle) s);
        }
    }
    // myTrackingController.addTerm(new StiffnessTerm(model, center));
    // StiffnessTerm kTerm = TrackingController.addStiffnessTarget(center, new int[]{0,2});
    // kTerm.setStiffnessTargetType(StiffnessTargetType.DIAG);
    // ComplianceTerm2d cterm = new ComplianceTerm2d(TrackingController, center, new int[]{0,2});
    // cterm.setComplianceTargetType(StiffnessTargetType.DIAG);
    // TrackingController.addTerm(cterm);
    myTrackingController.addL2RegularizationTerm();
    // myTrackingController.addTerm(new DampingTerm(TrackingController));
    // myTrackingController.addTerm(new StaticMotionTargetTerm(TrackingController));
    MotionTargetComponent target = myTrackingController.addMotionTarget(center);
    RenderProps.setPointRadius((Renderable) target, 0.525);
    if (useReactionForceTargetP) {
        ForceTargetTerm forceTerm = new ForceTargetTerm(myTrackingController);
        ForceTarget ft = forceTerm.addForceTarget(model.bodyConnectors().get("center_constraint"));
        ft.setArrowSize(2);
        RenderProps.setLineStyle(ft, LineStyle.CYLINDER);
        RenderProps.setLineRadius(ft, 0.25);
        forceTerm.setWeight(1d);
        myTrackingController.addForceTargetTerm(forceTerm);
    }
    // myTrackingController.getSolver().setBounds(0.01, 0.99);
    myTrackingController.createProbesAndPanel(this);
    addController(myTrackingController);
}