message: concept lateral safe dist in label function
diff: @@ -31,7 +31,8 @@ class SafeDistanceLabelFunction : public BaseLabelFunction {
  bool consider_crossing_corridors,
  unsigned int max_agents_for_crossing,
  bool use_frac_param_from_world,
  - double lateral_difference_threshold);
  + double lateral_difference_threshold,
  + bool check_lateral_dist);
  LabelMap Evaluate(const world::ObservedWorld& observed_world) const override;
  bool EvaluateEgoCorridor(const world::ObservedWorld& observed_world) const;
  @@ -53,7 +54,7 @@ class SafeDistanceLabelFunction : public BaseLabelFunction {
  unsigned int GetMaxAgentsForCrossing() const { return max_agents_for_crossing_; }
  private:
  - bool CheckSafeDistance(
  + bool CheckSafeDistanceLongitudinal(
  const float v_f, const float v_r, const float dist,
  const double a_r, const double a_f, const double delta) const;
  inline double CalcVelFrontStar(double v_f, double a_f, double delta) const;
  @@ -65,6 +66,11 @@ class SafeDistanceLabelFunction : public BaseLabelFunction {
  inline double CalcSafeDistance3(double v_r, double v_f, double a_r,
  double a_f, double delta) const;
  + bool CheckSafeDistanceLateral(
  + const float v_f_lat, const float v_r_lat, const float dist_lat,
  + const double a_r_lat, const double a_f_lat, const double delta1,
  + const double delta2) const;
  +
  bool to_rear_;
  double delta_ego_; //! Reaction times
  double delta_others_; //! Reaction times
  @@ -74,6 +80,7 @@ class SafeDistanceLabelFunction : public BaseLabelFunction {
  double lateral_difference_threshold_; //! Fraction term for lateral offset
  bool consider_crossing_corridors_;
  unsigned int max_agents_for_crossing_;
  + bool check_lateral_dist_;
  };
  } // namespace evaluation
  