text: import numpy as np
  
  
  class Line:
      def __init__(self):
          # was the line detected in the last iteration?
          self.detected = False
          # x values of the last n fits of the line
          self.recent_xfitted = []
          # average x values of the fitted line over the last n iterations
          self.bestx = None
          # polynomial coefficients averaged over the last n iterations
          self.best_fit = None
          # polynomial coefficients for the most recent fit
          self.current_fit = [np.array([False])]
          # radius of curvature of the line in some units
          self.radius_of_curvature = None
          # distance in meters of vehicle center from the line
          self.line_base_pos = None
          # difference in fit coefficients between last and new fits
          self.diffs = np.array([0, 0, 0], dtype='float')
          # x values for detected line pixels
          self.allx = []
          # y values for detected line pixels
          self.ally = []
  
  