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

Example 1 with TrackingController

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

the class TrackingControllerEditor method addActions.

public void addActions(EditActionMap actions, SelectionManager selManager) {
    LinkedList<ModelComponent> selection = selManager.getCurrentSelection();
    if (containsSingleSelection(selection, TrackingController.class)) {
        TrackingController controller = (TrackingController) selection.get(0);
        actions.add(this, "Edit tracking targets ...", EXCLUSIVE);
        // XXX currently editing muscles through
        MechSystemBase mech = controller.getMech();
        if (mech.getClass() == MechModel.class) {
            actions.add(this, "Edit muscles ...", EXCLUSIVE);
        }
    }
}

Example 2 with TrackingController

use of artisynth.core.inverse.TrackingController 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 3 with TrackingController

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

the class TrackingControllerEditor method applyAction.

public void applyAction(String actionCommand, LinkedList<ModelComponent> selection, Rectangle popupBounds) {
    if (containsSingleSelection(selection, TrackingController.class)) {
        TrackingController controller = (TrackingController) selection.get(0);
        if (actionCommand == "Edit tracking targets ...") {
            if (myEditManager.acquireEditLock()) {
                MotionTargetComponentAgent agent = new MotionTargetComponentAgent(myMain, controller);
                agent.show(popupBounds);
            }
        } else if (actionCommand == "Edit muscles ...") {
            if (myEditManager.acquireEditLock()) {
                ExcitationTargetAgent agent = new ExcitationTargetAgent(myMain, controller.getMuscleExciter());
                agent.show(popupBounds);
            }
        }
    }
}

Example 4 with TrackingController

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

the class FemSurfaceTargetDemo method addTrackingController.

public void addTrackingController() {
    TrackingController tcon = new TrackingController(mech, "tcon");
    for (FemNode n : fem.getNodes()) {
        if (n.getPosition().x < -l / 2 + eps) {
            tcon.addMotionTarget(n);
            RenderProps.setAlpha(n, 0.5);
        }
    }
    for (MuscleBundle b : fem.getMuscleBundles()) {
        tcon.addExciter(b);
    }
    // project reference points to body
    addController(new SurfaceTargetController(body.getMesh(), tcon.getMotionSources(), tcon.getTargetPoints()));
    for (TargetPoint p : tcon.getTargetPoints()) {
        RenderProps.setPointRadius(p, l / 100);
    }
    tcon.addL2RegularizationTerm(0.1);
    tcon.setProbeDuration(10);
    tcon.createProbesAndPanel(this);
    addController(tcon);
}

Example 5 with TrackingController

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

the class HydrostatInvDemo method addInverseController.

protected void addInverseController() {
    trackingController = new TrackingController(mech, "tcon");
    for (ModelComponent comp : hydro.createTargetList()) {
        trackingController.addMotionTarget((MotionTargetComponent) comp);
    }
    if (useBundlesForInverse) {
        for (MuscleBundle b : hydro.getMuscleBundles()) {
            trackingController.addExciter(b);
            Color exColor = b.getRenderProps().getLineColor();
            b.setExcitationColor(exColor);
            RenderProps.setLineColor(b, Color.WHITE);
        }
    } else {
        for (ExcitationComponent exciter : hydro.getMuscleExciters()) {
            trackingController.addExciter(exciter);
        }
    }
    trackingController.addL2RegularizationTerm(100 * 100);
    trackingController.setProbeDuration(5.0);
    trackingController.setProbeUpdateInterval(stepsize);
    trackingController.createProbesAndPanel(this);
    addController(trackingController);
}