message: Integrated deviation from center line
diff: #include "bark/geometry/geometry.hpp"
  #include "bark/world/world.hpp"
  +#include "bark/commons/transformation/frenet.hpp"
  +#include "bark/commons/transformation/frenet_state.hpp"
  +
  namespace bark {
  namespace world {
  @@ -28,6 +31,7 @@ using bark::world::ObservedWorld;
  namespace bg = boost::geometry;
  using models::dynamic::StateDefinition;
  using bark::geometry::SignedAngleDiff;
  +using commons::transformation::FrenetState;
  /**
  * @brief Function that selects LaneCorridors
  @@ -59,11 +63,27 @@ inline LaneCorridorPtr ChooseLaneCorridorBasedOnVehicleState(
  other_lane_corr = lc;
  }
  + auto curr_lane_corr = observed_world.GetLaneCorridor();
  + auto center_line = curr_lane_corr->GetCenterLine();
  + FrenetState frenet_state(ego_state, center_line);
  +
  + auto deviation_angle = observed_world.GetParams()->GetReal(
  + "DeviationAngleCenterLine",
  + "if the deviation is larger than the defined threshold,
  + the target_corr will be returned", 0.15);
  +
  + // target_corr should always be the left one in the merging map
  + // if we are standing leaning on the right LaneCorridor
  + // we want to use the left corridor
  + if (fabs(frenet_state.angle) > deviation_angle &&
  + other_lane_corr != nullptr)
  + return target_corr;
  +
  // if it is only in one lane corridor
  if (other_lane_corr == nullptr) {
  // in this case we are entirely in one lane corridor
  // here we want to only account for the preceeding vehicle
  - return observed_world.GetLaneCorridor();
  + return curr_lane_corr;
  }
  