def __init__(self, env, model_type):
    self.action_lb = env.action_lb
    self.action_ub = env.action_ub
    self.observation_bound = env.observation_bound
    if (model_type == 'PID'):
        self.policy = PIDController(env.sim.dt_c)
    elif (model_type == 'ARC'):
        self.policy = ARCController(env.sim.dt_c)
    else:
        raise Exception('Error')
def __init__(self, env, model_type):
    self.action_lb = env.action_lb
    self.action_ub = env.action_ub
    self.observation_bound = env.observation_bound
    if (model_type == 'PID'):
        self.policy = PIDController(env.sim.dt_c)
    elif (model_type == 'ARC'):
        self.policy = ARCController(env.sim.dt_c)
    else:
        raise Exception('Error')