Comments (3)
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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 : )
from polar_tool.
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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