message: idm classic behavior expired if nan acceleration
diff: @@ -252,8 +252,6 @@ Trajectory BehaviorIDMClassic::Plan(
  initial_acceleration = acc;
  }
  - BARK_EXPECT_TRUE(!std::isnan(acc));
  -
  s_i += +0.5f * acc * dt * dt + vel_i * dt;
  const float temp_velocity = vel_i + acc * dt;
  vel_i = std::max(std::min(temp_velocity, max_velocity), min_velocity);
  @@ -262,9 +260,11 @@ Trajectory BehaviorIDMClassic::Plan(
  geometry::Point2d traj_point = GetPointAtS(line, s_i); // checked
  float traj_angle = GetTangentAngleAtS(line, s_i); // checked
  - BARK_EXPECT_TRUE(!std::isnan(boost::geometry::get<0>(traj_point)));
  - BARK_EXPECT_TRUE(!std::isnan(boost::geometry::get<1>(traj_point)));
  - BARK_EXPECT_TRUE(!std::isnan(traj_angle));
  + if (std::isnan(acc) || std::isnan(boost::geometry::get<0>(traj_point)) ||
  + std::isnan(boost::geometry::get<1>(traj_point)) || std::isnan(traj_angle)) {
  + SetBehaviorStatus(BehaviorStatus::EXPIRED);
  + return traj;
  + }
  traj(i, StateDefinition::TIME_POSITION) = t_i; // checked
  traj(i, StateDefinition::X_POSITION) =
  