message: call ChooseLaneCorridorBasedOnVehicleState only if not in target lane corridor
diff: #include <utility>
  #include "bark/commons/transformation/frenet.hpp"
  -#include "bark/world/observed_world.hpp"
  #include "bark/world/map/commons.hpp"
  +#include "bark/world/observed_world.hpp"
  namespace bark {
  namespace models {
  @@ -185,7 +185,8 @@ IDMRelativeValues BaseIDM::CalcRelativeValues(
  // vehicles
  if (leading_vehicle.first) {
  - leading_distance = CalcNetDistance(observed_world, leading_vehicle.first, lane_corr);
  + leading_distance =
  + CalcNetDistance(observed_world, leading_vehicle.first, lane_corr);
  dynamic::State other_vehicle_state =
  leading_vehicle.first->GetCurrentState();
  leading_velocity = other_vehicle_state(StateDefinition::VEL_POSITION);
  @@ -370,9 +371,12 @@ Trajectory BaseIDM::Plan(double min_planning_time,
  if (constant_lane_corr_ != nullptr) {
  // decides which lane corridor to use if the agent' shape
  // is in multiple lane corridors
  - auto corrected_lane_corr = ChooseLaneCorridorBasedOnVehicleState(
  + if (constant_lane_corr_ != lane_corr_) {
  + current_lane_corridor = ChooseLaneCorridorBasedOnVehicleState(
  observed_world, constant_lane_corr_);
  - current_lane_corridor = corrected_lane_corr;
  + } else {
  + current_lane_corridor = constant_lane_corr_;
  + }
  } else {
  current_lane_corridor = lane_corr_;
  }
  