| """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) | |