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1.  Write your code in C++ or Matlab
2.  Compile it, if you use C++
3. Upload it to the LCC (see here)
4. Press "employdeploy"

You define the position of the target points, the speed of your vehicle for each section and the time the vehicle needs to pass a segment. In this example the target points are not connected to the map.

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This vector defines the x position of a target point (unitlessm):

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

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

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/secs)):

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

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

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

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

vector<uint64_t> segment_duration = vector<uint64_t>{1550000000ull, 1550000000ull, 1550000000ull, 1550000000ull}

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