message: base idm use frenet state differences
diff: @@ -176,15 +176,15 @@ IDMRelativeValues BaseIDM::CalcRelativeValues(
  double leading_acc = 0.0f;
  IDMRelativeValues rel_values;
  - std::pair<AgentPtr, FrenetPosition> leading_vehicle =
  + auto leading_vehicle =
  observed_world.GetAgentInFront(lane_corr);
  // vehicles
  if (leading_vehicle.first) {
  - leading_distance = CalcNetDistance(observed_world, leading_vehicle.first);
  + leading_distance = leading_vehicle.second.lon;
  dynamic::State other_vehicle_state =
  leading_vehicle.first->GetCurrentState();
  - leading_velocity = other_vehicle_state(StateDefinition::VEL_POSITION);
  + leading_velocity = leading_vehicle.second.to.vlon;
  interaction_term_active = true;
  // Get acceleration action other
  if (param_coolness_factor_ > 0.0f) {
  