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 = 10 #Prediction Horizon
        self.dt = 0.2 #discretization step
        self.path_tick = 0.05
        self.L = 0.3 #vehicle wheelbase
        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