17 lines
523 B
Python
17 lines
523 B
Python
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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