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struct LaneGraph{

vector node_x;
vector node_y;
vector nodes_cos; 
vector nodes_sin;
vector edges_start_index;
vector edges_end_index;
vector edges_x;
vector edges_y;
vector edges_sin;
vecotrvector edges_cos;
}

The graph edges correspond to center lines, along which a vehicle may drive. Parallel lanes are not modeled, instead extra edges are added for lane changes in discrete locations.

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cd ~/dev/software/central_routing_example/src/LAneGraphToolsLaneGraphTools.cpp

Preparation II: Write a class called "VehicleTrajectoryPlanningState"

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