can calculate the ratio of, ie mppi callback wrt to the timestep of the model advanced at each step, so we can track how much headroom we have for realtime interactive control.
Realtime Factor: 0.3 dt / 0.8 s = 0.375
We'd want the factor to be > 1, but having the timings would be nice. dt in the above should be timestep*skip.
colinxs
commented
4 years ago
can calculate the ratio of, ie mppi callback wrt to the timestep of the model advanced at each step, so we can track how much headroom we have for realtime interactive control.
Realtime Factor: 0.3 dt / 0.8 s = 0.375
We'd want the factor to be > 1, but having the timings would be nice. dt in the above should be timestep*skip.