message: idm test: add acceleraiton limits
diff: @@ -117,6 +117,8 @@ TEST(interaction_term, behavior_idm_classic) {
  const double minimum_spacing = behavior.GetMinimumSpacing();
  const double desired_time_headway = behavior.GetDesiredTimeHeadway();
  const double max_acceleration = behavior.GetMaxAcceleration();
  + const double acc_lower_bound = behavior.GetAccelerationLowerBound();
  + const double acc_upper_bound = behavior.GetAccelerationUpperBound();
  const double comfortable_braking_acceleration =
  behavior.GetComfortableBrakingAcceleration();
  @@ -145,7 +147,7 @@ TEST(interaction_term, behavior_idm_classic) {
  minimum_spacing + ego_velocity * desired_time_headway +
  ego_velocity * velocity_difference /
  (2 * sqrt(max_acceleration * comfortable_braking_acceleration));
  - double desired_acceleration = std::max(-max_acceleration,
  + double desired_acceleration = std::max(acc_lower_bound,
  -max_acceleration * pow(helper_state / rel_distance, 2));
  EXPECT_NEAR(idm_acceleration, desired_acceleration, 0.001);
  @@ -159,7 +161,7 @@ TEST(interaction_term, behavior_idm_classic) {
  minimum_spacing + ego_velocity * desired_time_headway +
  ego_velocity * velocity_difference /
  (2 * sqrt(max_acceleration * comfortable_braking_acceleration));
  - desired_acceleration = std::max(-max_acceleration,
  + desired_acceleration = std::max(acc_lower_bound,
  -max_acceleration * pow(helper_state / rel_distance, 2));
  EXPECT_NEAR(idm_acceleration, desired_acceleration, 0.001);
  }
  