message: Integration of ChooseLaneCorridorBasedOnVehicleState in BaseIDM
diff: @@ -369,16 +369,9 @@ Trajectory BaseIDM::Plan(double min_planning_time,
  LaneCorridorPtr current_lane_corridor;
  if (constant_lane_corr_ != nullptr) {
  - // Tobias:
  - // GenerateTrajectory uses lane_corr_
  - // CalcRelativeValues uses current_lane_corridor
  -
  - // postulate: we need only to modify: current_lane_corridor
  -
  -
  - // LaneCorridor ChooseLaneCorridorBasedOnVehicleState(observed_world)
  - // TODO: set current_lane_corridor
  - current_lane_corridor = constant_lane_corr_;
  + auto corrected_lane_corr = ChooseLaneCorridorBasedOnVehicleState(
  + observed_world, constant_lane_corr_);
  + current_lane_corridor = corrected_lane_corr;
  } else {
  current_lane_corridor = lane_corr_;
  }
  