mpc_python_learn/mpc_pybullet_demo/cvxpy_mpc/vehicle_model.py

import numpy as np


class VehicleModel:
    """

    Attributes:
        wheelbase:
        max_speed:
        max_acc:
        max_d_acc:
        max_steer:
        max_d_steer:
    """

    def __init__(self):
        self.wheelbase = 0.3  # vehicle wheelbase [m]
        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]