from numpy import ndarray

from .Model.models import SimpleHarmonicOscillator
from .plant import Plant

class SystemSimulator:
    def __init__(self, λ, k, b, dt, H, Q, R, x0, noisy):
        # Model initialization
        self.model = SimpleHarmonicOscillator(λ, k, b, dt, H, Q, R)

        # Plant initialization
        self.plant = Plant(self.model, x0, noisy)


    def update(self, u: ndarray, x̂_: ndarray = None) -> ndarray:
        return self.plant.update(u, x̂_)