text: #ifndef MPC_H
  #define MPC_H
  
  #include <vector>
  #include "Eigen-3.3/Eigen/Core"
  
  using namespace std;
  
  class MPC {
   public:
    MPC();
  
    virtual ~MPC();
  
    // Solve the model given an initial state and polynomial coefficients.
    // Return the first actuatotions.
    vector<double> Solve(Eigen::VectorXd state, Eigen::VectorXd coeffs);
    private:
      size_t n_constraints;
      size_t n_vars;
  };
  
  #endif /* MPC_H */
  