* @brief Definition of frenet state * @param vec_s, s coordinate * @param vec_d, d coordinate (derivative may vary) * @param is_lateral_independent

* @brief Vehicle control signal, 2 modes embedded * @brief open-loop: use desired state * @brief closed-loop: use longitudinal acc and steering rate

The banded system class is used for solving banded linear system Ax=b efficiently. A is an N*N band matrix with lower band width lowerBw and upper ban

* @brief Vehicle info under Frenet-frame */