function u = init_control(varargin)

if nargin > 0
  u.acc = varargin{1};
else
  u.acc = 0;
end

if nargin > 1
  u.steering_angle = varargin{2};
else
  u.steering_angle = 0;
end

if nargin > 2
  u.mode = varargin{3};
else
  u.mode = 0;
end

u.action = [];
