message: signed angle diff in frenet state
diff: @@ -105,8 +105,8 @@ double LatAccStreetToVehicleCs(double acc_lat_street, double acc_lon,
  theta, theta_street); // in fact, I think that is frenet_state.angle
  // also not sure, if we should calculate theta-theta_street or
  // theta_street-theta
  - double route_heading_dot =
  - (current_frenet_state.angleRoad - last_frenet_state.angleRoad) /
  + double route_heading_dot = mg::SignedAngleDiff(current_frenet_state.angleRoad,
  + last_frenet_state.angleRoad) /
  delta_time;
  double acc_lat =
  