22 lines
844 B
Python
22 lines
844 B
Python
from .first_order_lag import FirstOrderLagConfigModule
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from .two_wheeled import TwoWheeledConfigModule
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from .cartpole import CartPoleConfigModule
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from .nonlinear_sample_system import NonlinearSampleSystemConfigModule, NonlinearSampleSystemExtendConfigModule
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def make_config(args):
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"""
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Returns:
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config (ConfigModule class): configuration for the each env
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"""
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if args.env == "FirstOrderLag":
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return FirstOrderLagConfigModule()
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elif args.env == "TwoWheeledConst" or args.env == "TwoWheeledTrack":
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return TwoWheeledConfigModule()
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elif args.env == "CartPole":
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return CartPoleConfigModule()
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elif args.env == "NonlinearSample":
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if args.controller_type == "NMPCCGMRES":
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return NonlinearSampleSystemExtendConfigModule()
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return NonlinearSampleSystemConfigModule()
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