16 lines
504 B
Python
16 lines
504 B
Python
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import numpy as np
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class Params():
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def __init__(self):
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self.N = 4 #number of state variables
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self.M = 2 #number of control variables
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self.T = 10 #Prediction Horizon
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self.dt = 0.2 #discretization step
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self.path_tick = 0.05
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self.L = 0.3 #vehicle wheelbase
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self.MAX_SPEED = 1.5 #m/s
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self.MAX_ACC = 1.0 #m/ss
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self.MAX_D_ACC = 1.0 #m/sss
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self.MAX_STEER = np.radians(30) #rad
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self.MAX_D_STEER = np.radians(30) #rad/s
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