forked from glen/dyna3
Vectornaut
25017176fd
The brach to be merged partially addresses issue #42 by changing the way we normalize element representations after stepping them in a straight line through configuration space during a nudge. On the main branch, we rescale the whole representation vector. On the branch to be merged, we instead contract the representation vector toward the last coordinate axis by rescaling the spatial and curvature components. ### Improvement in leakage This change reduces the directional leakage described in #42. For a quantitative comparison, I used the [reproduction prodcedure](issues/42#user-content-leakage) from that issue, holding **W** until the second coordinate of Deimos had increased by 4 units (from 0.6 to 4.6). During this motion, the third coordinate changed by 0.158 units on the main branch, but only 0.007 units on the branch to be merged. In other words, this pull request decreased drift by roughly a factor of 20. ### Neutral changes in oscillation and jitter This change makes oscillation and jitter happen differently during the reproduction procedures from #42, but I wouldn't describe them as being better or worse. Co-authored-by: Aaron Fenyes <aaron.fenyes@fareycircles.ooo> Reviewed-on: glen/dyna3#43 Co-authored-by: Vectornaut <vectornaut@nobody@nowhere.net> Co-committed-by: Vectornaut <vectornaut@nobody@nowhere.net> |
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