message: calculating lci_ego if it does not come with SelectLaneCorridor
diff: @@ -73,20 +73,20 @@ BehaviorMobilRuleBased::ChooseLaneCorridor(
  double acc_ego = 0;
  std::pair<LaneCorridorInformation, bool> lci_has =
  SelectLaneCorridor(lane_corr_infos, lane_corr);
  + LaneCorridorInformation lci_ego;
  if (lci_has.second) {
  - LaneCorridorInformation lci = std::get<0>(lci_has);
  - if (lci.front.agent_info.first) {
  - BARK_EXPECT_TRUE(lci.front.rel_distance >= 0);
  - acc_ego = CalcRawIDMAcc(lci.front.rel_distance,
  - GetVelocity(observed_world.GetEgoAgent()),
  - GetVelocity(lci.front.agent_info.first));
  + lci_ego = std::get<0>(lci_has);
  } else {
  - acc_ego = CalcLongRawAccWithoutLeader(
  - lane_corr, observed_world.CurrentEgoPosition(),
  - GetVelocity(observed_world.GetEgoAgent()));
  + // the current lane corridor is not within the available corridors
  + lci_ego = FillLaneCorridorInformation(observed_world, lane_corr);
  }
  +
  + if (lci_ego.front.agent_info.first) {
  + BARK_EXPECT_TRUE(lci_ego.front.rel_distance >= 0);
  + acc_ego = CalcRawIDMAcc(lci_ego.front.rel_distance,
  + GetVelocity(observed_world.GetEgoAgent()),
  + GetVelocity(lci_ego.front.agent_info.first));
  } else {
  - // Target Corridor has been filtered out before as a corridor to change to
  acc_ego = CalcLongRawAccWithoutLeader(
  lane_corr, observed_world.CurrentEgoPosition(),
  GetVelocity(observed_world.GetEgoAgent()));
  