Save the tree to the robot class object and load the radius from the settings file

guided_mrmp/utils/control.py

@@ -41,6 +41,7 @@ class Roomba(ControlSpace):
         self.max_d_acc = settings['Roomba']['max_d_acc']
         self.max_steer = np.radians(settings['Roomba']['max_steer'])
         self.max_d_steer = np.radians(settings['Roomba']['max_d_steer'])
+        self.radius = settings['Roomba']['radius']  
 
     def state_dimension(self):
         # State is [x, y, theta]

guided_mrmp/utils/robot.py

 import numpy as np
 
 class Robot:
-    def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, rrtpath,waypoints):
+    def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, rrtpath,waypoints, tree):
         self.label = label
         self.color = color
         self.radius = radius
@@ -12,6 +12,7 @@ class Robot:
         self.rrtpath = rrtpath
         self.dynamics_model = dynamics_model
         self.waypoints = waypoints
+        self.tree = tree
 
         self.last_mpc_trajectory = None
         self.last_mpc_controls = None