import numpy as np

from bicycleparameters.parameter_dicts import mooreriderlean2012_browser_jason
from bicycleparameters.parameter_sets import MooreRiderLean2012ParameterSet
from bicycleparameters.models import MooreRiderLean2012Model
p = MooreRiderLean2012ParameterSet(mooreriderlean2012_browser_jason)
m = MooreRiderLean2012Model(p)
times = np.linspace(0.0, 5.0, num=51)
x0 = np.zeros(12)
x0[5] = np.deg2rad(5.0)  # steer angle
m.plot_simulation(times, x0, v=20.0)