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make parameters of mpc controller changeable

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This commit is contained in:
Simon Pirkelmann 2020-11-18 21:54:23 +01:00
parent c2307261c5
commit 0fddd75393
1 changed files with 2 additions and 2 deletions
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4
remote_control/mpc_controller.py
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@ -6,11 +6,11 @@ from casadi_opt import OpenLoopSolver
class MPCController(ControllerBase): class MPCController(ControllerBase):
def __init__(self): def __init__(self, N=20, T=1.0):
super().__init__() super().__init__()
self.t = None self.t = None
self.ols = OpenLoopSolver(N=20, T=1.0) self.ols = OpenLoopSolver(N=N, T=T)
self.ols.setup() self.ols.setup()
self.control_rate = self.ols.T / self.ols.N self.control_rate = self.ols.T / self.ols.N