message: fix behavior idm classic test
diff: #include "modules/world/observed_world.hpp"
  #include "modules/models/behavior/motion_primitives/motion_primitives.hpp"
  +#include "modules/world/map/frenet.hpp"
  namespace modules {
  namespace world {
  @@ -15,12 +16,18 @@ using modules::geometry::Polygon;
  using modules::world::AgentMap;
  using modules::world::map::Frenet;
  using modules::models::behavior::BehaviorMotionPrimitives;
  +using modules::geometry::Point2d;
  +using modules::geometry::Line;
  +using modules::models::dynamic::State;
  std::pair<AgentPtr, Frenet> ObservedWorld::get_agent_in_front() const {
  State ego_state = current_ego_state();
  + Point2d ego_position = current_ego_position();
  - const auto& driving_corridor = get_local_map()->get_horizon_driving_corridor();
  - const Polygon& corridor_polygon = driving_corridor.CorridorPolygon();
  + const auto& lane_corridor = get_road_corridor()
  + ->GetCurrentLaneCorridor(ego_position);
  + const Polygon& corridor_polygon = lane_corridor->GetMergedPolygon();
  + const Line& center_line = lane_corridor->GetCenterLine();
  AgentMap intersecting_agents = GetAgentsIntersectingPolygon(corridor_polygon);
  if(intersecting_agents.size() == 0) {
  return std::make_pair(AgentPtr(nullptr),
  @@ -29,7 +36,7 @@ std::pair<AgentPtr, Frenet> ObservedWorld::get_agent_in_front() const {
  }
  - Frenet frenet_ego = driving_corridor.FrenetFromCenterLine(current_ego_position());
  + Frenet frenet_ego(ego_position, center_line);
  double nearest_lon = std::numeric_limits<double>::max();
  double nearest_lat = std::numeric_limits<double>::max();
  @@ -40,8 +47,7 @@ std::pair<AgentPtr, Frenet> ObservedWorld::get_agent_in_front() const {
  continue;
  }
  - Frenet frenet_other = driving_corridor.FrenetFromCenterLine(
  - aiter->second->get_current_position());
  + Frenet frenet_other(aiter->second->get_current_position(), center_line);
  double long_dist = frenet_other.lon - frenet_ego.lon;
  double lat_dist = frenet_other.lat - frenet_ego.lat;
  