def __init__(self, model, optimizer, observer, simulator):
# The four modules
self.model = model
self.optimizer = optimizer
self.observer = observer
self.simulator = simulator
# The data structure
self.mpc_data = data_do_mpc.mpc_data(self)
def __init__(self, model, optimizer, observer, simulator):
# The four modules
self.model = model
self.optimizer = optimizer
self.observer = observer
self.simulator = simulator
# The data structure
self.mpc_data = data_do_mpc.mpc_data(self)
def __init__(self, model, optimizer, observer, simulator, states, inputs,
horizon_1, moving_obst_1):
# The four modules
self.model = model
self.optimizer = optimizer
self.observer = observer
self.simulator = simulator
self.states = states # Robot#s States
self.inputs = inputs # Robot#s Inputs
self.horizon_1 = horizon_1 # Pridiction Horizon Publisher
self.moving_obst_1 = moving_obst_1 # Random Moving Obstacle
self.set_m_obst_weight = False
# The data structure
self.mpc_data = data_do_mpc.mpc_data(self)