Error Reduction Parameter Property

Short Name: ERP

Requires: Robotics Module

Class: World Properties

To Use: Create a property or method.

Gets or sets the global error reduction parameter (ERP) value, which controls the amount of error correction performed during each time step. The ERP specifies what proportion of the joint error will be corrected during the next simulation step.

If ERP is 0, no correcting force is applied and the bodies will eventually drift apart as the simulation proceeds. If ERP is 1, the simulation attempts to fix all joint error during the next time step. The joint error cannot be completely fixed due to various internal approximations. National Instruments recommends setting ERP values in the range of 0.1–0.8. The default is 0.2.

Data Type

Single-precision, floating-point number

Permissions

read/write