Takes the coefficients of a polynomial and creates a function of time from them.

Calculates the derivative of a polynomial and returns the corresponding coefficients.

A function that returns a value between 0 and 1 for x in the range [0, infinity] and -1 to 1 for x in the range [-infinity, infinity].

u""" calc position

u""" calc yaw

u""" Calc first derivative if t is outside of the input x, return None

u""" search data segment index

u""" calc curvature

Calculates Jerk Minimizing Trajectory for start, end and T.

u""" Calc position if t is outside of the input x, return None

u""" Calc second derivative

Calculates the closest distance to any vehicle during a trajectory.

TODO - complete this function

Finds the best trajectory according to WEIGHTED_COST_FUNCTIONS (global). arguments: start_s - [s, s_dot, s_ddot] start_d - [d, d_

u""" calc matrix A for spline coefficient c

u""" calc matrix B for spline coefficient c

Returns a "perturbed" version of the goal.

Penalizes getting close to other vehicles.

Binary cost function which penalizes collisions.

Penalizes trajectories whose d coordinate (and derivatives) differ from the goal.

Rewards high average speeds.

Penalizes trajectories whose s coordinate (and derivatives) differ from the goal.

Penalizes trajectories that span a duration which is longer or shorter than the duration requested.