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More cleanly decouple the high level controller from low level MPC #1

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LemonPi opened this issue Oct 23, 2020 · 0 comments
Open

More cleanly decouple the high level controller from low level MPC #1

LemonPi opened this issue Oct 23, 2020 · 0 comments

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@LemonPi
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LemonPi commented Oct 23, 2020

Currently the implementation bundles the high level controller and the low level MPPI together as a single class. The API should be cleaned up so any other low level MPC should be a drop-in replacement.
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