from settings_acados_poly_track import *
"""
Script only generates OCP solver csource without actually doing anything
"""

horizon = 1.0  # prediction horizon (s)
N = 30  # number of discretization steps
degree = 5
max_predict = 1.4


# load model
constraint, model, acados_solver = setting_poly_track(model_name="nxp_racer",
                                                      prediction_horizon=horizon,
                                                      N=N,
                                                      poly_degree=degree,
                                                      max_predict=max_predict)