def __init__(self, lf, lr, mass, Iz, Cf, Cr, Bf=None, Br=None, Df=None, Dr=None, Cm1=None, Cm2=None, Cr0=None, Cr2=None, input_acc=False, **kwargs):
    '\tspecify model params here\n\t\t'
    self.lf = lf
    self.lr = lr
    self.dr = (lr / (lf + lr))
    self.mass = mass
    self.Iz = Iz
    self.Cf = Cf
    self.Cr = Cr
    self.Bf = Bf
    self.Br = Br
    self.Df = Df
    self.Dr = Dr
    self.Cm1 = Cm1
    self.Cm2 = Cm2
    self.Cr0 = Cr0
    self.Cr2 = Cr2
    self.approx = False
    if ((Bf is None) or (Br is None) or (Df is None) or (Dr is None)):
        self.approx = True
    self.input_acc = input_acc
    self.n_states = 6
    self.n_inputs = 2
    Model.__init__(self)
specify model params here
def __init__(self, lf, lr, mass, Iz, Cf, Cr, Bf=None, Br=None, Df=None, Dr=None, Cm1=None, Cm2=None, Cr0=None, Cr2=None, input_acc=False, **kwargs):
    '\t\n\t\t'
    self.lf = lf
    self.lr = lr
    self.dr = (lr / (lf + lr))
    self.mass = mass
    self.Iz = Iz
    self.Cf = Cf
    self.Cr = Cr
    self.Bf = Bf
    self.Br = Br
    self.Df = Df
    self.Dr = Dr
    self.Cm1 = Cm1
    self.Cm2 = Cm2
    self.Cr0 = Cr0
    self.Cr2 = Cr2
    self.approx = False
    if ((Bf is None) or (Br is None) or (Df is None) or (Dr is None)):
        self.approx = True
    self.input_acc = input_acc
    self.n_states = 6
    self.n_inputs = 2
    Model.__init__(self)