Behavior Planning--14.implement a cost function in C + +

n most situations, a single cost function is not being sufficient to produce complex vehicle behavior. In the This quiz, we ' d like the You-to-implement one more cost function in C + +. We'll use these-C, functions later in the lesson. The goal with this quiz are to create a cost function that would make the vehicle drive in the fastest possible lane, given Several behavior options. We'll provide the following four inputs to the function:

• Target speed:currently Set as ten (unitless), the speed in which you would like the vehicle to travel.
• Intended lane:the intended lane for the given behavior. For PLCR, PLCL, LCR, and LCL, this would is the one lane over from the current lane.
• Final lane:the Immediate resulting lane of the given behavior. For LCR and LCL, this would is one lane over.
• A Vector of lane speeds, based on traffic in that lane: {6, 7, 8, 9}.

Your task in the implementation is to create a cost function, that satisifes:

• The cost decreases as both intended lane and final lane is higher speed lanes.
• The cost function provides different costs for each possible behavior:kl, PLCR/PLCL, LCR/LCL.
• The values produced by the cost function is in the range 0 to 1.

You can implement your solution in cost.cpp below.

Cost.cpp

float inefficiency_cost (intint intended_lane,int final_lane, vector<int > lane_speeds) {   float speed_intended=Lane_speeds[intended_lane];    float speed_final=Lane_speeds[final_lane];    float cost= (2.0*target_speed-speed_intended-speed_final)/target_speed;    return Cost ;}

Behavior Planning--14.implement a cost function in C + +