Manager::integrate VS. Manager::doIntegration

[Sina Porsa]

Hi everybody;
I was wondering what is the difference between these two methods:

bool integrate (SimTK::State &s, double dtFirst=1.0e-6)
bool doIntegration (SimTK::State &s, int step, double dtFirst)

it seems that they have the same output results.
I was also wondering what is the second input in the "doIntegration" method (int step)? It seems that the output result is not a function of this input!!

Thanks
Sina

[Ayman Habib]

Hi Sina,

The integrate() method is a higher level interface that ends up calling doIntegration() after setting the start time in the state. The parameter step is not used for integration but for reporting only (to be used by analyses).

Hope this helps,
-Ayman