message: commenting out preconditions
diff: @@ -151,19 +151,21 @@ class PrimitiveChangeToLeft : public PrimitiveConstAcceleration {
  : PrimitiveConstAcceleration(params, dynamic_model, 0,
  crosstrack_error_gain) {}
  bool IsPreConditionSatisfied(const ObservedWorldPtr& observed_world) {
  - const Point2d ego_pos = observed_world->CurrentEgoPosition();
  - //! agent may not have reached target lane yet, so we match point on target
  - //! lane
  - const Point2d point_on_target_line =
  - GetNearestPoint(target_corridor_->GetCenterLine(), ego_pos);
  - auto road_corridor = observed_world->GetRoadCorridor();
  - LaneCorridorPtr left_corridor;
  - LaneCorridorPtr right_corridor;
  - std::tie(left_corridor, right_corridor) =
  - road_corridor->GetLeftRightLaneCorridor(point_on_target_line);
  + // const Point2d ego_pos = observed_world->CurrentEgoPosition();
  + // //! agent may not have reached target lane yet, so we match point on target
  + // //! lane
  + // const Point2d point_on_target_line =
  + // GetNearestPoint(target_corridor_->GetCenterLine(), ego_pos);
  +
  + // auto road_corridor = observed_world->GetRoadCorridor();
  + // LaneCorridorPtr left_corridor;
  + // LaneCorridorPtr right_corridor;
  + // std::tie(left_corridor, right_corridor) =
  + // road_corridor->GetLeftRightLaneCorridor(point_on_target_line);
  - bool satisfied = (left_corridor) ? true : false;
  + // bool satisfied = (left_corridor) ? true : false;
  + bool satisfied = true;
  return satisfied;
  }
  Trajectory Plan(float delta_time, const ObservedWorld& observed_world) {
  @@ -196,19 +198,20 @@ class PrimitiveChangeToRight : public PrimitiveConstAcceleration {
  crosstrack_error_gain) {}
  bool IsPreConditionSatisfied(const ObservedWorldPtr& observed_world) {
  - const Point2d ego_pos = observed_world->CurrentEgoPosition();
  - //! agent may not have reached target lane yet, so we match point on target
  - //! lane
  - const Point2d point_on_target_line =
  - GetNearestPoint(target_corridor_->GetCenterLine(), ego_pos);
  + // const Point2d ego_pos = observed_world->CurrentEgoPosition();
  + // //! agent may not have reached target lane yet, so we match point on target
  + // //! lane
  + // const Point2d point_on_target_line =
  + // GetNearestPoint(target_corridor_->GetCenterLine(), ego_pos);
  - auto road_corridor = observed_world->GetRoadCorridor();
  - LaneCorridorPtr left_corridor;
  - LaneCorridorPtr right_corridor;
  - std::tie(left_corridor, right_corridor) =
  - road_corridor->GetLeftRightLaneCorridor(point_on_target_line);
  + // auto road_corridor = observed_world->GetRoadCorridor();
  + // LaneCorridorPtr left_corridor;
  + // LaneCorridorPtr right_corridor;
  + // std::tie(left_corridor, right_corridor) =
  + // road_corridor->GetLeftRightLaneCorridor(point_on_target_line);
  - bool satisfied = (right_corridor) ? true : false;
  + // bool satisfied = (right_corridor) ? true : false;
  + bool satisfied = true;
  return satisfied;
  }
  Trajectory Plan(float delta_time, const ObservedWorld& observed_world) {
  