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ChaoHuang2018 avatar ChaoHuang2018 commented on August 22, 2024

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yuanggeng avatar yuanggeng commented on August 22, 2024

Thank you so much! Can I double check what is the time step you set in each control step maybe in the single pendulum example? Can you explain the differene when you deal with ODE and DDE? Thank you : )

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ChaoHuang2018 avatar ChaoHuang2018 commented on August 22, 2024

In the single pendulum example, the control step size is 0.05.

For DDE encoding, please refer to the mountain car example (POLAR_Tool/examples/Mountain_Car/mountain_car.cpp). Simply speaking, the main difference is the construction of the dynamics: use DDE() to construct DDE-based dynamics (e.g., line 42, mountain_car.cpp), and use ODE() to construct ODE-based dynamics (e.g., line 26, single_pendulum.cpp).

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