text: #ifndef TRAJECTORY_GENERATION_H
  #define TRAJECTORY_GENERATION_H
  
  #include <vector>
  
  struct CalculatedTrajectory
  {
  	std::vector<double> m_path_x;
  	std::vector<double> m_path_y;
  };
  
  /*
  Calculate a JMT
  */
  std::vector<double> JMT(const std::vector<double>& start, const std::vector<double>& end, double T);
  
  /*
  Calculate the y position for a given x position on the JMT (given its coefficients) 
  */
  double poly_eval(const std::vector<double>& coeffs, double x);
  
  /*
  Calculate a spline using the last two points in (pts_x, pts_y) and waypoints in the lane
  */
  CalculatedTrajectory calculate_spline_trajectory_in_lane(
  	std::vector<double>& pts_x,
  	std::vector<double>& pts_y,
  	unsigned int target_lane,
  	const std::vector<double>& deltas,
  	const std::vector<double>& map_waypoints_x,
  	const std::vector<double>& map_waypoints_y,
  	const std::vector<double>& map_waypoints_s);
  
  #endif