message: testing GetAgentInFront for another lane corridor
diff: @@ -120,7 +120,7 @@ TEST(observed_world, agent_in_front) {
  // Adding a fourth agent in right lane
  State init_state4(static_cast<int>(StateDefinition::MIN_STATE_SIZE));
  init_state4 << 0.0, 5.0, -5.25, 0.0, 5.0;
  - AgentPtr agent4(new Agent(init_state3, beh_model, dyn_model, exec_model,
  + AgentPtr agent4(new Agent(init_state4, beh_model, dyn_model, exec_model,
  polygon, &params, goal_ptr, map_interface,
  Model3D())); // NOLINT
  @@ -130,6 +130,7 @@ TEST(observed_world, agent_in_front) {
  WorldPtr current_world_state4(world->Clone());
  ObservedWorld obs_world4(current_world_state4, agent4->GetAgentId());
  + // there is no agent in front of agent4
  std::pair<AgentPtr, Frenet> leading_vehicle4 = obs_world4.GetAgentInFront();
  EXPECT_FALSE(static_cast<bool>(leading_vehicle4.first));
  @@ -137,9 +138,11 @@ TEST(observed_world, agent_in_front) {
  BARK_EXPECT_TRUE(road_corridor4 != nullptr);
  Point2d ego_pos4 = agent4->GetCurrentPosition();
  - const auto& lane_corridor4 = road_corridor4->GetCurrentLaneCorridor(ego_pos4);
  + const auto& left_right_lane_corridor = road_corridor4->GetLeftRightLaneCorridor(ego_pos4);
  + const LaneCorridorPtr& lane_corridor4 = left_right_lane_corridor.first;
  BARK_EXPECT_TRUE(lane_corridor4 != nullptr);
  + // in the lane corridor left of agent4, there is agent2 in front
  std::pair<AgentPtr, Frenet> leading_vehicle4b = obs_world4.GetAgentInFrontForId(agent4->GetAgentId(), lane_corridor4);
  EXPECT_TRUE(static_cast<bool>(leading_vehicle4b.first));
  EXPECT_EQ(leading_vehicle4b.first->GetAgentId(), agent2->GetAgentId());
  