working model

Author: FedeClaudi

proj/model/config.py

@@ -14,8 +14,8 @@ class Config:
     INPUT_SIZE = 2
     ANGLE_IDX = 2  # state vector index which is angle, used to fit diff in
 
-    R = np.diag([0.01, 0.01])  # control cost
-    Q = np.diag([1, 1, 1, 5, 0])  # state cost | x, y, theta, v, omega
+    R = np.diag([0.05, 0.05])  # control cost
+    Q = np.diag([1, 1, 1, 1, 0])  # state cost | x, y, theta, v, omega
     Sf = np.diag([0, 0, 0, 0, 0])  # final state cost
 
     # STATE_SIZE = 4
@@ -65,7 +65,7 @@ class Config:
 
     # ------------------------------ Planning params ----------------------------- #
     planning = dict(  # params used to compute goal states to be used for control
-        prediction_length=150,
+        prediction_length=80,
         n_ahead=5,  # start prediction states from N steps ahead
     )