unienv_interface.utils.control_util

Number module-attribute

Number = Union[int, float]

find_best_timestep

find_best_timestep(timesteps: Iterable[Number], *, max_denominator: int = 10000, return_fraction: bool = False) -> Tuple[Union[float, Fraction], List[int]]

Compute the simulation timestep dt such that every sensor period is an integer multiple of dt (i.e., dt is the GCD of the periods). Works with floats.

Parameters:

Name	Type	Description	Default
timesteps	Iterable[Number]	Iterable of sensor periods (seconds, ms, etc.). Must be > 0.	required
max_denominator	int	Max denominator when rational-approximating floats. Increase if your periods are very fine-grained.	10000
return_fraction	bool	If True, returns dt as a Fraction; otherwise a float.	False

Returns:

Name	Type	Description
dt	Union[float, Fraction]	The best simulation timestep (float or Fraction).
steps_per_sensor	List[int]	For each input period T_i, the integer k_i = T_i / dt.

Raises:

Type	Description
ValueError	If list is empty or contains non-positive values.