mpc_python_learn/mpc_pybullet_demo/mpcpy/mpc_config.py

17 lines
551 B
Python

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]