TRAJECTORY_TYPE = 'circular'

if TRAJECTORY_TYPE == 'linear':
    SIMULATION_TIME_IN_SECONDS = 40
elif TRAJECTORY_TYPE == 'circular':
    SIMULATION_TIME_IN_SECONDS = 120

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
K_V = 0.90
K_W = 0.90

TRAJECTORY_TYPE = 'squared'

if TRAJECTORY_TYPE == 'linear':
    SIMULATION_TIME_IN_SECONDS = 40.0
elif TRAJECTORY_TYPE == 'circular':
    SIMULATION_TIME_IN_SECONDS = 120.0
elif TRAJECTORY_TYPE == 'squared':
    SIMULATION_TIME_IN_SECONDS = 160.0

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
K_V = 0.90
K_W = 0.90

Add simulation time for a squared trajectory
Add simulation time for a squared trajectory


- TRAJECTORY_TYPE = 'circular'
+ TRAJECTORY_TYPE = 'squared'
  
  if TRAJECTORY_TYPE == 'linear':
-     SIMULATION_TIME_IN_SECONDS = 40
+     SIMULATION_TIME_IN_SECONDS = 40.0
  elif TRAJECTORY_TYPE == 'circular':
-     SIMULATION_TIME_IN_SECONDS = 120
+     SIMULATION_TIME_IN_SECONDS = 120.0
+ elif TRAJECTORY_TYPE == 'squared':
+     SIMULATION_TIME_IN_SECONDS = 160.0
  
  DELTA_T = 0.1 # this is the sampling time
  STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
  K_V = 0.90
  K_W = 0.90
  
Add simulation time for a squared trajectory
## Code Before:
TRAJECTORY_TYPE = 'circular'

if TRAJECTORY_TYPE == 'linear':
    SIMULATION_TIME_IN_SECONDS = 40
elif TRAJECTORY_TYPE == 'circular':
    SIMULATION_TIME_IN_SECONDS = 120

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
K_V = 0.90
K_W = 0.90

## Instruction:
Add simulation time for a squared trajectory
## Code After:
TRAJECTORY_TYPE = 'squared'

if TRAJECTORY_TYPE == 'linear':
    SIMULATION_TIME_IN_SECONDS = 40.0
elif TRAJECTORY_TYPE == 'circular':
    SIMULATION_TIME_IN_SECONDS = 120.0
elif TRAJECTORY_TYPE == 'squared':
    SIMULATION_TIME_IN_SECONDS = 160.0

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
K_V = 0.90
K_W = 0.90
