text: /*************************************************************************
  	> File Name: frenet_path.h
  	> Author: TAI Lei
  	> Mail: ltai@ust.hk
  	> Created Time: Tue Apr  9 17:08:22 2019
   ************************************************************************/
  
  #ifndef _FRENET_PATH_H
  #define _FRENET_PATH_H
  
  #include <iostream>
  #include <vector>
  #include <array>
  #include <string>
  #include "cpprobotics_types.h"
  
  namespace cpprobotics{
  
  class FrenetPath{
  	public:
  		float cd = 0.0;
  		float cv = 0.0; 
  		float cf = 0.0;
  
  		Vec_f t;		 
  		Vec_f d;		 
  		Vec_f d_d;		 
  		Vec_f d_dd;		 
  		Vec_f d_ddd;		 
  		Vec_f s;
  		Vec_f s_d;
  		Vec_f s_dd;
  		Vec_f s_ddd;
  
  		Vec_f x;
  		Vec_f y;
  		Vec_f yaw;
  		Vec_f ds;
  		Vec_f c;
  
  		float max_speed;
  		float max_accel;
  		float max_curvature;
  };
  
  using Vec_Path=std::vector<FrenetPath>;
  }
  #endif
  