message: Generate traj on actual lane corridor
diff: @@ -378,7 +378,7 @@ Trajectory BaseIDM::Plan(double min_planning_time,
  double dt = min_planning_time / (GetNumTrajectoryTimePoints() - 1);
  std::tuple<Trajectory, Action> traj_action =
  - GenerateTrajectory(observed_world, current_lane_corridor, rel_values, dt);
  + GenerateTrajectory(observed_world, lane_corr_, rel_values, dt);
  // set values
  Trajectory traj = std::get<0>(traj_action);
  