def initialize_time(self, control_freq): """ Initializes the time constants used for simulation. """ self.cur_time = 0 self.model_timestep = self.sim.model.opt.timestep if self.model_timestep <= 0: raise XMLError("xml model defined non-positive time step") self.control_freq = control_freq if control_freq <= 0: raise SimulationError( "control frequency {} is invalid".format(control_freq)) self.control_timestep = 1. / control_freq
def initialize_time(self, control_freq): """ Initializes the time constants used for simulation. Args: control_freq (float): Hz rate to run control loop at within the simulation """ self.cur_time = 0 self.model_timestep = macros.SIMULATION_TIMESTEP if self.model_timestep <= 0: raise ValueError("Invalid simulation timestep defined!") self.control_freq = control_freq if control_freq <= 0: raise SimulationError("Control frequency {} is invalid".format(control_freq)) self.control_timestep = 1. / control_freq
def initialize_time(self, control_freq): """ Initializes the time constants used for simulation. Args: control_freq (float): Hz rate to run control loop at within the simulation """ self.cur_time = 0 self.model_timestep = self.sim.timestep if self.model_timestep <= 0: raise XMLError("xml model defined non-positive time step") self.control_freq = control_freq if control_freq <= 0: raise SimulationError( "control frequency {} is invalid".format(control_freq)) self.control_timestep = 1. / control_freq