message: fixed idm tests
diff: @@ -39,7 +39,7 @@ TEST(free_road_term, behavior_idm_classic) {
  // Create an observed world with specific goal definition and the corresponding mcts state
  Polygon polygon(Pose(1, 1, 0), std::vector<Point2d>{Point2d(0, 0), Point2d(0, 2), Point2d(2, 2), Point2d(2, 0), Point2d(0, 0)});
  - std::shared_ptr<Polygon> goal_polygon(std::dynamic_pointer_cast<Polygon>(polygon.translate(Point2d(50,0)))); // < move the goal polygon into the driving corridor in front of the ego vehicle
  + std::shared_ptr<Polygon> goal_polygon(std::dynamic_pointer_cast<Polygon>(polygon.translate(Point2d(50,-2)))); // < move the goal polygon into the driving corridor in front of the ego vehicle
  auto goal_definition_ptr = std::make_shared<GoalDefinitionPolygon>(*goal_polygon);
  float ego_velocity = desired_velocity, rel_distance = 7.0, velocity_difference=0.0;
  @@ -79,7 +79,7 @@ TEST(interaction_term, behavior_idm_classic) {
  // Create an observed world with specific goal definition and the corresponding mcts state
  Polygon polygon(Pose(1, 1, 0), std::vector<Point2d>{Point2d(0, 0), Point2d(0, 2), Point2d(2, 2), Point2d(2, 0), Point2d(0, 0)});
  - std::shared_ptr<Polygon> goal_polygon(std::dynamic_pointer_cast<Polygon>(polygon.translate(Point2d(50,0)))); // < move the goal polygon into the driving corridor in front of the ego vehicle
  + std::shared_ptr<Polygon> goal_polygon(std::dynamic_pointer_cast<Polygon>(polygon.translate(Point2d(50,-2)))); // < move the goal polygon into the driving corridor in front of the ego vehicle
  auto goal_definition_ptr = std::make_shared<GoalDefinitionPolygon>(*goal_polygon);
  // vehicle is in front, zero velocity equal desired velocity thus only interaction term
  @@ -137,10 +137,10 @@ TEST(drive_leading_vehicle, behavior_idm_classic) {
  // Create an observed world with specific goal definition and the corresponding mcts state
  Polygon polygon(Pose(1, 1, 0), std::vector<Point2d>{Point2d(0, 0), Point2d(0, 2), Point2d(2, 2), Point2d(2, 0), Point2d(0, 0)});
  - std::shared_ptr<Polygon> goal_polygon(std::dynamic_pointer_cast<Polygon>(polygon.translate(Point2d(50,0)))); // < move the goal polygon into the driving corridor in front of the ego vehicle
  + std::shared_ptr<Polygon> goal_polygon(std::dynamic_pointer_cast<Polygon>(polygon.translate(Point2d(50,-2)))); // < move the goal polygon into the driving corridor in front of the ego vehicle
  auto goal_definition_ptr = std::make_shared<GoalDefinitionPolygon>(*goal_polygon);
  - WorldPtr world = make_test_world(1,rel_distance, ego_velocity, velocity_difference);
  + WorldPtr world = make_test_world(1,rel_distance, ego_velocity, velocity_difference, goal_definition_ptr);
  /* float v_start = world->get_agents().begin()->second->get_current_state()[StateDefinition::VEL_POSITION];
  for (int i=0; i<num_steps; ++i ) {
  