message: introduced correct idm hierarchy
diff: #ifndef MODULES_MODELS_BEHAVIOR_MOBIL_MOBIL_HPP_
  #define MODULES_MODELS_BEHAVIOR_MOBIL_MOBIL_HPP_
  -#include <utility>
  #include <memory>
  +#include <utility>
  #include "modules/models/behavior/idm/idm_classic.hpp"
  #include "modules/world/observed_world.hpp"
  @@ -24,38 +24,18 @@ enum MobilState { Idle = 0, IsChanging = 1 };
  class BehaviorMobil : public BehaviorIDMClassic {
  public:
  explicit BehaviorMobil(const commons::ParamsPtr& params)
  - : BehaviorIDMClassic(params), mobil_state_(MobilState::Idle) {
  - crosstrack_error_gain_ = params->GetReal(
  - "CrosstrackErrorGain", "Tuning factor of stanley controller", 1.0);
  -
  - politeness_ = params->GetReal(
  - "PolitenessFactor", "Politness factor, suggested [0.2, 0.5]", 0.35f);
  + : BehaviorIDMClassic(params->AddChild("BehaviorMobil")),
  + mobil_state_(MobilState::Idle) {
  + crosstrack_error_gain_ = params->GetReal("BehaviorMobil::CrosstrackErrorGain", "Tuning factor of stanley controller", 1.0);
  + politeness_ = params->GetReal("BehaviorMobil::PolitenessFactor", "Politness factor, suggested [0.2, 0.5]", 0.35f);
  //! Acceleration bias needs to be larger than the acceleration threshold
  - acceleration_threshold_ = params->GetReal(
  - "AccelerationThreshold",
  - "Models intertia to only trigger if there is real improvement", 0.1f);
  -
  - acceleration_bias_ = params->GetReal(
  - "AccelerationBias", "Bias to encourage keep right directive", 0.1f);
  -
  - safe_deceleration_ = params->GetReal(
  - "SafeDeceleration",
  - "Maximum deceleration for follower in target lane, positive number",
  - 2.0f);
  -
  - asymmetric_passing_rules_ = params->GetBool(
  - "AsymmetricPassingRules",
  - "Whether passing on the right side is forbidden", false);
  -
  - critical_velocity_ = params->GetReal(
  - "CriticalVelocity",
  - "Passing on the right side is allowed below this velocity",
  - 16.66f); // 16.66 m/s = 60 km/h
  -
  - stop_at_lane_ending_ =
  - params->GetBool("StopAtLaneEnding",
  - "Flag to let vehicle slow down at lane ending", true);
  + acceleration_threshold_ = params->GetReal("BehaviorMobil::AccelerationThreshold", "Models intertia to only trigger if there is real improvement", 0.1f);
  + acceleration_bias_ = params->GetReal("BehaviorMobil::AccelerationBias", "Bias to encourage keep right directive", 0.1f);
  + safe_deceleration_ = params->GetReal("BehaviorMobil::SafeDeceleration", "Maximum deceleration for follower in target lane, positive number", 2.0f);
  + asymmetric_passing_rules_ = params->GetBool("BehaviorMobil::AsymmetricPassingRules", "Whether passing on the right side is forbidden", false);
  + critical_velocity_ = params->GetReal("BehaviorMobil::CriticalVelocity", "Passing on the right side is allowed below this velocity", 16.66f); // 16.66 m/s = 60 km/h
  + stop_at_lane_ending_ = params->GetBool("BehaviorMobil::StopAtLaneEnding", "Flag to let vehicle slow down at lane ending", true);
  }
  virtual ~BehaviorMobil() {}
  