vehicle: revert grid summation so it considers drivable

Nova-UTD · Apr 30, 2024 · c2cb32a · c2cb32a
1 parent 728757c
commit c2cb32a
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/src/planning/costs/costs/grid_summation_node.py b/src/planning/costs/costs/grid_summation_node.py
@@ -309,13 +309,11 @@ def createCostMap(self):
                 #    weighted_grid_arr = self.resizeOccupancyGrid(weighted_grid_arr)
 
                 if grid_name == 'drivable':
-                    pass
                     #steering_cost += weighted_grid_arr
-                    # steering_cost = np.maximum( steering_cost , weighted_grid_arr )
+                    steering_cost = np.maximum( steering_cost , weighted_grid_arr )
                 elif grid_name == 'junction':
-                    pass
                     # speed_cost += weighted_grid_arr
-                    # speed_cost = np.maximum( speed_cost , weighted_grid_arr )
+                    speed_cost = np.maximum( speed_cost , weighted_grid_arr )
                 else:
                     # steering_cost += weighted_grid_arr
                     # speed_cost += weighted_grid_arr