mpc_python_learn/mpc_pybullet_demo/mpcpy/mpc_config.py

import numpy as np


class Params:
    def __init__(self):
        self.N = 4  # number of state variables
        self.M = 2  # number of control variables
        self.T = 5  # Prediction Horizon [s]
        self.DT = 0.2  # discretization step [s]
        self.L = 0.3  # vehicle wheelbase [m]
        self.TARGET_SPEED = 1.0  # [m/s
        self.MAX_SPEED = 1.5  # [m/s
        self.MAX_ACC = 1.0  # [m/ss
        self.MAX_D_ACC = 1.0  # [m/sss
        self.MAX_STEER = np.radians(30)  # [rad]
        self.MAX_D_STEER = np.radians(30)  # [rad/s]