* @brief Return coefficients of the polynomial */

Cubic equation: \f$a*t^3+b*t^2+c*t+d = 0\f$

* @brief Return position of polynomial with respect to parameterization * @param s value of polynomial parameterization */

Check if the point is inside, non-exclusive

Find intersection between multiple lines

optimize the objective function when there are no contraints */

returns the index of the plane that is in i's place */

* @brief Set the parameterization of the lane * @param position spline, position spline with required degree */

* @brief Set coefficients of the polynomial to zero */

Sort plannar points in the counter-clockwise order

Get C matrix

@yuwei: static collision checking