Source code for suboptimumg.models

from pydantic import BaseModel, ConfigDict, Field




class SimulationState(BaseModel):
    """
    Pydantic model representing the vehicle state used in our simulation.
    """

    model_config = ConfigDict(frozen=True, extra="forbid")

    sliding: bool = Field(description="Whether the vehicle is sliding")
    acc: float = Field(description="Longitudinal acceleration (m/s^2)")
    v: float = Field(description="Current velocity (m/s)")
    dt: float = Field(description="Current time step (s)")
    p: float = Field(description="Current power (W)")
    motor_torque: float = Field(
        default=0.0,
        description=(
            "Per-motor shaft torque (N*m), signed: positive driving, negative "
            "regen. This is the mechanical output torque of a SINGLE motor "
            "(total drivetrain torque / motor count), the quantity the "
            "efficiency LUT and the real motor torqueFeedback are indexed by."
        ),
    )

    roll: float = Field(default=0.0, description="Roll angle (rad)")
    pitch: float = Field(default=0.0, description="Pitch angle (rad)")



    def model_copy(self, *args, **kwargs):
        """
        Model copy is disabled to ensure immutability.
        """
        raise TypeError("Copying is disabled for SimulationState")




    def copy(self, *args, **kwargs):
        """
        Copy is disabled to ensure immutability.
        """
        raise TypeError("Copying is disabled for SimulationState")