constants.push_back((double)(j[1]["constants"]["timeStep"]));
          constants.push_back((double)(j[1]["constants"]["N"]));
          constants.push_back((double)(j[1]["constants"]["desiredSpeed"]));
          constants.push_back((double)(j[1]["constants"]["pathStray"]));
          constants.push_back((double)(j[1]["constants"]["headingStray"]));
          constants.push_back((double)(j[1]["constants"]["speedStray"]));
          constants.push_back((double)(j[1]["constants"]["sharpSteering"]));
          constants.push_back((double)(j[1]["constants"]["highAcceleration"]));
          constants.push_back((double)(j[1]["constants"]["speedSteer"]));
          constants.push_back((double)(j[1]["constants"]["steeringDifference"]));
          constants.push_back((double)(j[1]["constants"]["accelerationDifference"]));
          constants.push_back((double)(j[1]["constants"]["grannyCare"]));
          constants.push_back((double)(j[1]["constants"]["babyCare"]));
          constants.push_back((double)(j[1]["constants"]["grannySpeed"]));
          constants.push_back((double)(j[1]["constants"]["babySpeed"]));