message: target corridor update after motion primitive selection
diff: @@ -21,7 +21,7 @@ BehaviorMPMacroActions::BehaviorMPMacroActions(
  motion_primitives_(motion_primitives),
  check_validity_in_plan_(params->AddChild("BehaviorMPMacroActions")
  ->GetBool("CheckValidityInPlan",
  - "If true only primitives can be selected which are valid", true)) {}
  + "If true only primitives can be selected which are valid", false)) {}
  BehaviorMotionPrimitives::MotionIdx BehaviorMPMacroActions::AddMotionPrimitive(
  const primitives::PrimitivePtr& primitive) {
  @@ -51,13 +51,13 @@ Trajectory BehaviorMPMacroActions::Plan(
  << "No motion primitive available! At least one primitive must be "
  "available at all times!";
  }
  - const auto& selected_mp = motion_primitives_.at(
  + selected_mp = motion_primitives_.at(
  valid_primitives_.at(boost::get<DiscreteAction>(active_motion_)));
  - target_corridor_ =
  - selected_mp->SelectTargetCorridor(observed_world, adjacent_corridors);
  } else {
  selected_mp = motion_primitives_.at(boost::get<DiscreteAction>(active_motion_));
  }
  + target_corridor_ =
  + selected_mp->SelectTargetCorridor(observed_world, adjacent_corridors);
  traj = selected_mp->Plan(delta_time, observed_world, target_corridor_);
  