message: max delta calculated from allowed max lat acc
diff: @@ -92,8 +92,10 @@ class SingleTrackModel : public DynamicModel {
  double CalculateLatAccelerationMaxAtFrenetAngle(const double &v, const double& theta,
  const double& tangent_angle,
  const double a_long_max) const {
  + const auto max_acc_lat_dyn = GetLatAccelerationMax();
  + const double delta_max = std::atan2(max_acc_lat_dyn * wheel_base_, v * v);
  const double max_lat_acc = std::abs(a_long_max)*(sin(tangent_angle-theta)) -
  - v*v*sin(steering_angle_max_)/wheel_base_*cos(tangent_angle+theta);
  + v*v*sin(delta_max)/wheel_base_*cos(tangent_angle+theta);
  return std::abs(max_lat_acc);
  }
  