# Obtain vehicleCostMap from drivingScenario

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redwan el 28 de Abr. de 2018
Comentada: FP24 el 23 de Jul. de 2018
Hello,
Is there any way to obtain vehicleCostmap object from drivingScenario object. I've added one ego Car and one barrier in my driving scenario. I would like to obtain a vehicleCostmap which only assumes that the only cost to drive is the barrier in the road. I'm using a straight road with no lanes. Without vehicleCostMap, plan, pathplannerRRT will not work, according to the document.
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### Respuestas (1)

Anand el 4 de Jun. de 2018
There is no direct ability to do this. There are two ways to accomplish this however:
1. Create a 2D matrix with the values in your map and create a vehicleCostmap object.
2. Create a 'blank' vehicleCostmap object and populate it with the barriers using the setCosts function.
% Create a 2D matrix with the barricades.
C = 0.1*ones(100, 100);
C(30:35,50:90) = 0.8;
% Construct a vehicleCostmap object
costmap1 = vehicleCostmap(C);
% Plot created costmap
figure, plot(costmap1)
% Create a vehicleCostmap object 100m-by-100m
costmap2 = vehicleCostmap(100, 100, 'CellSize', 1);
% Mark a rectangular obstacle
[xx,yy] = meshgrid(50:90, 65:70);
xyPoints = [xx(:),yy(:)];
setCosts(costmap2, xyPoints, 0.8);
% Plot created costmap
figure, plot(costmap2)
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FP24 el 23 de Jul. de 2018
I don't think this answers the question, in which I'm interested too

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