function [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state)
% [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state)
% 
% This script generates control inputs that avoid randomly generated
% obstacles along the test track
% 
% INPUTS:
%  TestTrack        the structure loaded from TestTrack.mat
%    
%  Xobs_seen        the output of the senseObstacles function
% 
%  curr_state       taken from the last state in Y, where Y is the actual
%                   trajectory updated after forward integrating the
%                   vehicle dynamics using control inputs at every planning
%                   iteration
%
% OUTPUTS:
%  Utemp            an N-by-2 vector of control inputs that will be passed
%                   to forwardIntegrateControlInput. Utemp must have enough
%                   control inputs with time step 0.01 seconds to forward
%                   integrate vehicle dynamics for the next 0.5 seconds 
%   
%  FLAG_terminate   a binary flag set by the function to indicate when to
%                   stop the simulation. Setting this flag to 1 at a
%                   planning iteration indicates that, after integrating
%                   forward vehicle dynamics using the control inputs from
%                   Utemp for 0.5 seconds, the vehicle would have reached
%                   the goal. If this flag is set to 0, then it imples that
%                   the car would not reach the goal after forward
%                   integrating for 0.5 seconds. Note that, in the event
%                   that FLAG_terminate is never set to 1, the simulation
%                   would stop after 20 minutes so that we can process all
%                   the teams files in a timely manner.
%             
% Written by: Sravan Balaji, Xenia Demenchuk, and Peter Pongsachai
% Created: 30 Nov 2021
load('ROB535_ControlProject_part1_Team3.mat');
Y_ref = ROB535_ControlProject_part1_state;
U_ref = ROB535_ControlProject_part1_input;

obj = MPC_Class(TestTrack, Xobs_seen, curr_state, Y_ref, U_ref);
[Utemp, FLAG_terminate] = obj.compute_inputs();
end