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vector<double> trajectory_px = vector<double>{ 1, 0, -1, 0}

This vector defines the y position of a target point (unitless):

vector<double> trajectory_py = vector<double>{ 0, 1, 0, -1}

This vector defines the x speed to the target point. The sign gives the orientation in the cartesian coordinate system (unit m/sec):

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vector<double> trajectory_vy = vector<double>{ 1, 0, -1, 0}

This vector defines the time the vehicle takes between two target points (unit sec):

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