[ODE] How to detect unstability / crash

[Ignacio García Fernández]

Hi,

I'm interested in detecting when the application is going to crash, or to 
become unstable. This would allow to reset the simulation before this 
happens, possibly causing application crash.

Severl ideas come to me, but they do not seem too efficient; eg. monitoring 
all the joint forces or the constraint violations.

Does anybody have any idea on how to do this?

Thank you in advance

Ignacio

-- 
May the source be with you                                     
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Ignacio García Fernández                  Instituto de Robótica
ignacio.garcia_at_uv.es                 Universidad de Valencia
http://robotica.uv.es/~ignacio/                Tlf. 96 354 3671