message: inital test works; world step function works
diff: @@ -91,6 +91,13 @@ TEST(rss_behavior, init) {
  // safety_params->GetReal("BehaviorIDMClassic::DesiredVelocity", "", -1.), 0.);
  }
  +
  +// void FwSim(
  +// int steps, const WorldPtr& world,
  +// const std::shared_ptr<BaseEvaluator>& eval) {
  +
  +// }
  +
  TEST(rss_behavior, rss_behavior_system_test) {
  // Test-strategy: both time the ego agent is controlled by the
  // BehaviorIDMLaneTracking and attempts to change from the right to the
  @@ -106,31 +113,36 @@ TEST(rss_behavior, rss_behavior_system_test) {
  // should place an agent on the right lane (+3.5)
  WorldPtr world =
  make_test_world(0, rel_distance, ego_velocity, velocity_difference);
  + auto ego_agent = world->GetAgents().begin()->second;
  - // nominal BehaviorIDMLaneTracking
  + // nominal BehaviorIDMLaneTracking (changes to the left)
  auto nominal_behavior_lane_tracking =
  std::make_shared<BehaviorIDMLaneTracking>(params);
  + auto road_corridor = ego_agent->GetRoadCorridor();
  + auto lane_corridors = road_corridor->GetUniqueLaneCorridors();
  + nominal_behavior_lane_tracking->SetConstantLaneCorridor(lane_corridors[0]);
  // safety behavior
  std::shared_ptr<BehaviorSafety> safety_behavior =
  std::make_shared<BehaviorSafety>(params);
  // rss behavior
  - auto rss_behavior = BehaviorRSSConformant(params);
  - rss_behavior.SetNominalBehaviorModel(nominal_behavior_lane_tracking);
  - rss_behavior.SetSafetyBehaviorModel(safety_behavior);
  -
  + std::shared_ptr<BehaviorRSSConformant> rss_behavior =
  + std::make_shared<BehaviorRSSConformant>(params);
  + rss_behavior->SetNominalBehaviorModel(nominal_behavior_lane_tracking);
  + rss_behavior->SetSafetyBehaviorModel(safety_behavior);
  - // TODO: create function with passable evaluator; one time it
  - // triggers one time it doesn't
  + // set behavior model
  + ego_agent->SetBehaviorModel(rss_behavior);
  + std::shared_ptr<BaseEvaluator> rss_eval =
  + std::make_shared<DummyRSSEvaluator>(4);
  + rss_behavior->SetEvaluator(rss_eval);
  - // set (dummy) RSS evaluator
  - // std::shared_ptr<BaseEvaluator> rss_eval =
  - // std::make_shared<DummyRSSEvaluator>(4);
  - // rss_behavior.SetEvaluator(rss_eval);
  + // world step works
  + world->Step(0.2);
  - // get agent with id=0 and assign behavior model
  - world->GetAgents()[0];
  + // two simulation loops
  + // triggers one time it doesn't
  }
  