message: removing obsolete variable
diff: @@ -40,7 +40,6 @@ FrenetState::FrenetState(const State& state, const Line& path) {
  // calculate sign of lateral coordinate
  const auto orientation = state[StateDefinition::THETA_POSITION];
  angleRoad = mg::GetTangentAngleAtS(path, lon);
  - auto norm_tangent_angle = angleRoad;
  angle = mg::SignedAngleDiff(angleRoad, orientation);
  auto direction_vector = pos - nearest_point;
  double diff = mg::SignedAngleDiff(
  @@ -83,6 +82,18 @@ State FrenetStateToDynamicState(const FrenetState& frenet_state,
  return state;
  }
  +/**
  + * @brief Transforms Lateral Acceleration from Streetwise to Vehicle Coordinate
  + * System
  + *
  + * @param acc_lat_street ... lateral acceleration (street corrdinate system)
  + * @param acc_lon ... longitudinal acceleration
  + * @param delta_time ... time increment from t_i-1 to t_i
  + * @param current_state ... state of vehicle at t_i
  + * @param current_frenet_state ... frenet state of vehicle t_i
  + * @param last_frenet_state ... frenet state at t_i-1
  + * @return double lateral acceleration (vehicle coordinate system)
  + */
  double LatAccStreetToVehicleCs(double acc_lat_street, double acc_lon,
  double delta_time, const State& current_state,
  const FrenetState& current_frenet_state,
  