Remove restriction that cost of obstacle cell cannot be set

petercorke · Nov 18, 2018 · f21c486 · f21c486
1 parent 6f7c7cb
commit f21c486
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/Dstar.m b/Dstar.m
@@ -342,9 +342,7 @@ function modify(ds, x, y, newcost)
                 % a rectangular region is specified
                 for xx=xy(1,1):xy(1,2)
                     for yy=xy(2,1):xy(2,2)
-                        if ~isinf(ds.costmap(yy,xx))
                             modify(ds, xx, yy, newcost);
-                        end
                     end
                 end
             elseif numcols(xy) == numel(newcost)