Consecutive Simulations Approach
From ESE497 Wiki
A complication arose when running each degree of freedom movement, which are called the system's modes, in the same simulation. During the first iteration through the simulations code, resolutions often improved due to pointing rotation which the algorithms incorporated regardless of what other type of movement was chosen. The comparator which determines resolution improvement would then flag as an improvement all of the initial simulations without consideration of the subsequent two simulations. This problem was solved by placing all of the modes running simulations into a “for loop” so that each mode asked its questions twice (the loop runs for two iterations). The important effect of the second iteration is that it considers the changes made by the first iteration and improves the result unaffected by the robot rotation as the robots are starting from improved angles rather than the initial angles. It also allows for each change to be reconsidered in light of the inputs from the other modes.