storm_kit.mpc.utils.mpc_process_wrapper module¶
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class
ControlProcess
(controller, control_space='acc', control_dt=0.01)[source]¶ Bases:
object
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get_command_debug
(t_step, curr_state, debug=False, control_dt=0.01)[source]¶ This function runs the controller in the same process and waits for optimization to complete before return of a new command Args: t_step: current timestep curr_state: current state to give to mpc debug: flag to enable debug commands [not implemented] control_dt: dt to integrate command to acceleration space from a higher order space(jerk, snap).
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