#pragma once

#include <Eigen/Dense>
#include "MPC_functions.h"


#define N_V_fun  9

std::array<Eigen::Matrix<double, N_x, N_x>, N_V_fun> V_functions_P;
std::array<Eigen::Matrix<double, N_x, 1>, N_V_fun> V_functions_p;
std::array<double, N_V_fun> V_functions_q;

void fill_V_function_variables();