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604e535 | 1 2 3 4 5 6 7 8 9 10 11 | """Current-estimator MPC evaluation."""
from experiments.current_estimator_mpc.src.config import default_config
from experiments.current_estimator_mpc.src.estimator import estimate_current
from experiments.current_estimator_mpc.src.mpc import plan
def evaluate(config):
cfg = default_config() | config
current = estimate_current(config["history"], cfg)
return plan(config["history"][-1], current, {"goal": cfg["goal"]}, cfg)
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