  s = fmod(s, max_s);
  double x = spline_x(s) + d * spline_dx(s);
  double y = spline_y(s) + d * spline_dy(s);
  return {x,y};
}
*/

vector<double> JMT(vector< double> start, vector <double> end, double T)
{
    /*
    Calculate the Jerk Minimizing Trajectory that connects the initial state