message: flipping signs for selection of rss limits
diff: @@ -72,6 +72,7 @@ Trajectory BehaviorRSSConformant::Plan(
  lat_left_response_ = rss_response.lateralResponseLeft;
  lat_right_response_ = rss_response.lateralResponseRight;
  acc_restrictions_ = rss_response.accelerationRestrictions;
  + VLOG(4) << "RSS Response: " << rss_response;
  safety_polygons_ = rss_evaluator->GetSafetyPolygons();
  ConvertRestrictions(min_planning_time, acc_restrictions_, observed_world);
  }
  @@ -165,14 +166,16 @@ void BehaviorRSSConformant::ConvertRestrictions(
  ego_frenet, last_ego_frenet);
  AccelerationLimits acc_lim_vehicle_cs, acc_lim_street_cs;
  - if (ego_frenet.vlat < 0) {
  + if (ego_frenet.vlat > 0) {
  + VLOG(4) << "vel_lat_street > 0, Using left rss limits";
  // use left limits
  acc_lim_vehicle_cs.lat_acc_max = acc_lat_le_max;
  acc_lim_vehicle_cs.lat_acc_min = acc_lat_le_min;
  acc_lim_street_cs.lat_acc_max = rss_rest.lateralLeftRange.maximum;
  acc_lim_street_cs.lat_acc_min = rss_rest.lateralLeftRange.minimum;
  - } else if (ego_frenet.vlat > 0) {
  + } else if (ego_frenet.vlat < 0) {
  + VLOG(4) << "vel_lat_street < 0, Using right rss limits";
  // use right limits
  acc_lim_vehicle_cs.lat_acc_max = acc_lat_ri_max;
  acc_lim_vehicle_cs.lat_acc_min = acc_lat_ri_min;
  @@ -180,6 +183,7 @@ void BehaviorRSSConformant::ConvertRestrictions(
  acc_lim_street_cs.lat_acc_max = rss_rest.lateralRightRange.maximum;
  acc_lim_street_cs.lat_acc_min = rss_rest.lateralRightRange.minimum;
  } else {
  + VLOG(4) << "vel_lat_street = 0, Using both rss limits";
  // use both limits
  acc_lim_vehicle_cs.lat_acc_max = std::min(acc_lat_le_max, acc_lat_ri_max);
  acc_lim_vehicle_cs.lat_acc_min = std::max(acc_lat_le_min, acc_lat_ri_min);
  