├── .gitignore ├── .vscode └── launch.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── __init__.py ├── config ├── hyperparameters.json └── scenes │ ├── multi_lanes.json │ ├── slow_down.json │ └── two_lanes.json ├── img └── .gitkeep ├── include └── nlohmann │ ├── adl_serializer.hpp │ ├── byte_container_with_subtype.hpp │ ├── detail │ ├── abi_macros.hpp │ ├── conversions │ │ ├── from_json.hpp │ │ ├── to_chars.hpp │ │ └── to_json.hpp │ ├── exceptions.hpp │ ├── hash.hpp │ ├── input │ │ ├── binary_reader.hpp │ │ ├── input_adapters.hpp │ │ ├── json_sax.hpp │ │ ├── lexer.hpp │ │ ├── parser.hpp │ │ └── position_t.hpp │ ├── iterators │ │ ├── internal_iterator.hpp │ │ ├── iter_impl.hpp │ │ ├── iteration_proxy.hpp │ │ ├── iterator_traits.hpp │ │ ├── json_reverse_iterator.hpp │ │ └── primitive_iterator.hpp │ ├── json_pointer.hpp │ ├── json_ref.hpp │ ├── macro_scope.hpp │ ├── macro_unscope.hpp │ ├── meta │ │ ├── call_std │ │ │ ├── begin.hpp │ │ │ └── end.hpp │ │ ├── cpp_future.hpp │ │ ├── detected.hpp │ │ ├── identity_tag.hpp │ │ ├── is_sax.hpp │ │ ├── std_fs.hpp │ │ ├── type_traits.hpp │ │ └── void_t.hpp │ ├── output │ │ ├── binary_writer.hpp │ │ ├── output_adapters.hpp │ │ └── serializer.hpp │ ├── string_concat.hpp │ ├── string_escape.hpp │ └── value_t.hpp │ ├── json.hpp │ ├── json_fwd.hpp │ ├── ordered_map.hpp │ └── thirdparty │ └── hedley │ ├── hedley.hpp │ └── hedley_undef.hpp ├── requirements.txt ├── results ├── multi_lanes │ ├── animation.gif │ ├── animation_local.gif │ ├── animation_local_s.gif │ └── animation_s.gif ├── slow_down │ ├── speed_offset_n1p0 │ │ ├── animation.gif │ │ └── animation_local.gif │ ├── yaw_rate_offset_0p01 │ │ ├── animation.gif │ │ ├── animation_local.gif │ │ └── animation_s.gif │ ├── yaw_rate_offset_0p04 │ │ ├── animation.gif │ │ └── animation_local.gif │ └── yaw_rate_offset_0p10 │ │ ├── animation.gif │ │ └── animation_local.gif └── two_lanes │ ├── speed_offset_n1p0 │ ├── animation.gif │ └── animation_local.gif │ ├── yaw_rate_offset_0p01 │ ├── animation.gif │ ├── animation_local.gif │ ├── animation_local_s.gif │ └── animation_s.gif │ ├── yaw_rate_offset_0p04 │ ├── animation.gif │ └── animation_local.gif │ └── yaw_rate_offset_0p10 │ ├── animation.gif │ └── animation_local.gif ├── scripts ├── __init__.py ├── fot_v2.py ├── load_data.py ├── make_gif.py └── utils │ ├── __init__.py │ └── geometry.py └── src ├── Car ├── Car.cpp └── Car.h ├── CubicSpline ├── CubicSpline1D.cpp ├── CubicSpline1D.h ├── CubicSpline2D.cpp └── CubicSpline2D.h ├── FrenetOptimalTrajectory ├── FrenetOptimalTrajectory.cpp ├── FrenetOptimalTrajectory.h ├── FrenetPath.cpp ├── FrenetPath.h └── py_cpp_struct.h ├── Lane ├── Lane.cpp └── Lane.h ├── Obstacle ├── Obstacle.cpp └── Obstacle.h ├── Polynomials ├── CubicPolynomial.cpp ├── CubicPolynomial.h ├── Polynomial.h ├── QuarticPolynomial.cpp ├── QuarticPolynomial.h ├── QuinticPolynomial.cpp └── QuinticPolynomial.h ├── main.cpp └── utils ├── coordinate_utils.cpp ├── coordinate_utils.h ├── 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