Reference:

参考https://github.com/onlytailei/CppRobotics中关于state_lattice_planner的实现过程

Baidu Apollo中lattice_planner的实现
    https://www.cnblogs.com/fuhang/p/9563884.html
    https://www.cnblogs.com/fuhang/p/9836584.html
    https://blog.csdn.net/yuxuan20062007/article/details/82330165