action to the external input as precisely what constitutes the "entity," which is therefore far from being invariant. Glasersfeld considers an invariant as a target to be homed in upon, and a pragmatic necessity to allow an initial measure of understanding to be established prior to the updating that a statement aims to achieve. The invariant does not, and need not, represent an actuality. Glasersfeld describes it as extremely unlikely that what is desired or feared by an organism will never suffer change as time goes on. This social constructionist theory thus allows for a needful evolutionary adjustment. A mathematical theory of perception-in-action has been devised and investigated in many forms of controlled movement, and has been described in many different species of organism using the General Tau Theory. According to this theory, "tau information", or time-to-goal information is the fundamental percept in perception. Evolutionary psychology Many philosophers, such as Jerry Fodor, write that the purpose of perception is knowledge. However, evolutionary psychologists hold that the primary purpose of perception is to guide action. They give the example of depth perception, which seems to have evolved not to aid in knowing the distances to other objects but rather to aid movement. Evolutionary psychologists argue that animals ranging from fiddler crabs to humans use eyesight for collision avoidance, suggesting that vision is basically for directing action, not providing knowledge. Neuropsychologists showed that perception systems evolved along the specifics of animals' activities. This explains why bats and worms can perceive different frequency of auditory and visual systems than, for example, humans. Building and maintaining sense organs is metabolically expensive. More than half the brain is devoted to processing sensory information, and the brain itself consumes roughly one-fourth of one's metabolic resources. Thus, such organs evolve only when they provide exceptional benefits to an organism's fitness. Scientists who study perception and sensation have long understood the human senses as adaptations. Depth perception consists of processing over half a dozen visual cues, each of which is based on a regularity of the physical world. Vision evolved to respond to the narrow range of electromagnetic energy that is plentiful and that does not pass through objects. Sound waves provide useful information about the sources of and distances to objects, with larger animals making and hearing lower-frequency sounds and smaller animals making and hearing higher-frequency sounds. Taste and smell respond to chemicals in the environment that