chore: simplify logic for calculating update interval for occupancy grid

Signed-off-by: Gaoyang Zhang <[email protected]>
blurgyy · Aug 9, 2023 · 1ef676a · 1ef676a
1 parent 4c665d2
commit 1ef676a
Showing 1 changed file with 1 addition and 13 deletions.
diff --git a/utils/types.py b/utils/types.py
@@ -1378,19 +1378,7 @@ def locked_params(self):
 
     @property
     def update_ogrid_interval(self) -> int:
-        s = int(self.step)
-        if s < 16:
-            return 1
-        elif s < 256:
-            return s // 16
-        elif s < 1024:
-            return 16
-        elif s < 4096:
-            return 32
-        elif s < 8192:
-            return 64
-        else:
-            return 128
+        return min(16, self.step // 16 + 1)
 
     @property
     def should_call_update_ogrid(self) -> bool: