I've been working on cleaning up a few things including not having the timestep dt anywhere except in the update function, and incorporating the Filter class in to the ensemble, and I think it just makes the most sense to scrap the accumulator and set everything up in terms of terminations. It's more modular, we need to do it for learning terminations anyways, there's a fair bit to change but I think it makes the most sense.
I've been working on cleaning up a few things including not having the timestep dt anywhere except in the update function, and incorporating the Filter class in to the ensemble, and I think it just makes the most sense to scrap the accumulator and set everything up in terms of terminations. It's more modular, we need to do it for learning terminations anyways, there's a fair bit to change but I think it makes the most sense.