Comments (2)
Here it is a more complete version of the plot above:
The take home message is always the same: we don't need to update the matrix exponential (roughly) more than once every ms because doing so doesn't improve accuracy (in the range of time steps tested). Therefore, if the integration accuracy you get with a time step of 1 ms is not enough, you can simply update more frequently the other terms of the dynamics (M, h, J), while keeping updating the matrix exponential only every 1 ms. That's gonna look very good in a plot accuracy VS computation time, where we would see a fast decrease of the error for a small increase of computation!
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I've added the possibility to set the frequency of the updates of the matrix exponential in the c++ implementation of the Exponential simulator. However, at the moment I haven't optimized the code to exploit this feature in terms of computation time because it would mainly benefit the high accuracy simulations, whereas I am currently more interested in the low-accuracy but high-speed simulations.
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Related Issues (20)
- First benchmark Exponential vs Euler HOT 9
- Bug in exponential integrator without double integral HOT 5
- gcc internal error segmentation fault
- Reset of contact state HOT 4
- New method for friction cone constraints HOT 1
- Sanity check: Sliding point mass HOT 3
- Integration accuracy without contacts HOT 7
- Accuracy of the Euler integration HOT 4
- Potential influcence of the cone projection HOT 2
- ExponentialSimulator accuracy with nonzero impact velocity HOT 5
- EulerSimulator discontinuity in friction force during sliding HOT 2
- bug in c++ exponential simulator HOT 3
- Quadruped Trot Results HOT 7
- Quadruped Jump Results HOT 3
- Romeo walking Results HOT 4
- Quadruped Squat Results
- missing reference trajectory HOT 1
- few issues with HalfPlane HOT 2
- Exponential VS Rigid-contacts HOT 9
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