text: #include "mpc_local_planner/types.h"
  
  std::ostream &operator<<(std::ostream &os, const mpc::State &state) {
      os << "x: " << state.x << ", y: " << state.y << ", psi: " << state.psi << ", vel: " << state.vel << ", delta: " << state.delta << ", throttle: " << state.throttle;
      return os;
  }
  
  std::ostream &operator<<(std::ostream &os, const mpc::Input &input) {
      os << "deltaDot: " << input.deltaDot << ", throttleDot: " << input.throttleDot;
      return os;
  }
  
  std::ostream &operator<<(std::ostream &os, const mpc::OptVariables &optVar) {
      os << optVar.x << ", " << optVar.u;
      return os;
  }