From c2cb32a192f52245cf8bd02ebf78c287bad88e7b Mon Sep 17 00:00:00 2001 From: Kevin Ge Date: Tue, 30 Apr 2024 18:49:21 -0500 Subject: [PATCH] vehicle: revert grid summation so it considers drivable --- src/planning/costs/costs/grid_summation_node.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/planning/costs/costs/grid_summation_node.py b/src/planning/costs/costs/grid_summation_node.py index e433586d..8b738b5f 100755 --- 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