Integration steps on Win XP not accurate?
According to my servo-problem thread I took a closer look at the set-integration-step method. Please correct me if I am wrong: The integration step cuts a simulation seconds down to slices, so that step = 0.005 => 1s/0.005s = 200 Iterations/s. I tested this with a simple code fragment counting each iteration of the "+to iterate" method within each second. But the most iterations I get are ~20; this is a loss of accuracy by factor 10.
From my days in the java community I know that the WinXP timer is not very accurate, it lies by app. 10-25ms, but that would be at least about 40 iterations.
Can anyone explain this?
integration step vs. iteration step
The integration step and iteration step are two different things. The integration step controls the low-level numerical integrator and is used to adjust the accuracy of physical simulations. The iteration step is a higher level stepsize and is used to control how frequently the iterate functions are called.
See the method set-iteration-step for more information!
- jon
You are right, there was a
You are right, there was a little irritation on my side. But nonetheless I need some further explanations.
An iteration step slices the simulation second in intervals so that an agent can react within its +iteration method. The default value on win breve is 0,05 => 20 Hz.
The integration step is a value used for physical calculations, my default value is 0,005. Can I think of it that the physical simulation is able to recognize changes within 200Hz (in a simulation second)?
My problem lies in the issues I described in the "Servo" Thread. I need to do a thing similar to your walker-demo: Genetically controlling a leg. If I understand the demo right, a leg's velocity is activated so that it moves until the joints limit is reached or another velocity command changes it. This is another behaviour compared to my servo-motor, where the joint itself has to stop at a given angle. But since there is no set-joint-angle method I needed to implement that by myself which raises some problems concerning the time steps of breve.
integration
pls help me to use my xp integration tool. many thanks, dont know how to use it , theres an instruction but difficult to understand.
pls help