text: #ifndef COST_H
  #define COST_H
  
  #include "vehicle.h"
  
  using std::map;
  using std::string;
  using std::vector;
  
  float collision_cost(const Vehicle &predicted_self, const vector<Vehicle> &trajectory, const vector<Vehicle> &predictions);
  
  float speed_cost(const Vehicle &predicted_self, const vector<Vehicle> &trajectory, const vector<Vehicle> &predictions);
  
  float lane_change_cost(const Vehicle &predicted_self, const vector<Vehicle> &trajectory, const vector<Vehicle> &predictions);
  
  float calculate_cost(const Vehicle &predicted_self, 
                       const vector<Vehicle> &predictions, 
                       const vector<Vehicle> &trajectory);
  
  #endif  // COST_H
  