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Merge obstacles into dev_whatever

Merged VAN TOLL Wouter requested to merge obstacles into dev_whatever
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@@ -319,7 +319,7 @@ float CostFunction::ComputeTimeToCollision_LineSegmentInterior(const Vector2D& p
float distanceToSubtract = radius / sinf(lineAngle);
float timeToSubtract = distanceToSubtract / speed;
return timeToCollision - timeToSubtract;
return std::max(0.0f, timeToCollision - timeToSubtract);
}
std::pair<float, float> CostFunction::ComputeTimeAndDistanceToClosestApproach(
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