def __init__(self, vars, optimization_package='scipy', solver_name='slsqp'):
self.vars = vars
self.subchain_idx = self.vars.subchain_idx
self.mt_manager = self.vars.mt_manager
self.optimization_package = optimization_package
self.solver_name = solver_name
self.groove = get_groove(vars, optimization_package,solver_name)
self.solution_count = 0
def __init__(self,
vars,
optimization_package='scipy',
solver_name='slsqp'):
self.vars = vars
self.optimization_package = optimization_package
self.solver_name = solver_name
self.groove = get_groove(vars, optimization_package, solver_name)
self.filter = EMA_filter(self.vars.init_state, a=0.5)
