text: #ifndef COORDS_UTILS_H
  #define COORDS_UTILS_H
  
  #include <vector>
  #include <string>
  
  #include "../states/CarState.hpp"
  #include "../states/TransitionState.hpp"
  #include "RefCoords.hpp"
  #include "XYCoords.hpp"
  #include "FrenetCoords.hpp"
  #include "../trajectory/Trajectory.hpp"
  
  using std::string;
  using std::vector;
  
  class CoordsUtils { 
  
      public:
          CoordsUtils(vector<double> map_waypoints_s, vector<double> map_waypoints_x, vector<double> map_waypoints_y)
                      : map_waypoints_s(map_waypoints_s), map_waypoints_x(map_waypoints_x), map_waypoints_y(map_waypoints_y) {}
          
          XYCoords convertToXY(FrenetCoords fc);
  
          vector<FrenetCoords> convertToFrenet(vector<XYCoords> xyCoords, double theta);
  
          RefCoords toRefCoords(double car_x, double car_y, double car_yaw, vector<double> previous_path_x, vector<double> previous_path_y, 
                                  double car_s, double car_d, double end_path_s, double end_path_d);
  
          RefCoords toRefCoordsFromCurrent(double car_x, double car_y, double car_yaw, double car_s, double car_d);
      
      private:
          vector<double> map_waypoints_s, map_waypoints_x, map_waypoints_y;
  };
  #endif