"""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)