"""Current-estimator line-of-sight controller evaluation."""

from experiments.current_estimator_los_controller.src.config import default_config
from experiments.current_estimator_los_controller.src.controller import plan
from experiments.current_estimator_los_controller.src.estimator import estimate_current

def evaluate(config):
    cfg = default_config() | config
    current = estimate_current(config["history"], cfg)
    return plan(config["history"][-1], current, {"goal": cfg["goal"]}, cfg)