Is there any way to obtainvehicleCostmap object fromdrivingScenario 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. WithoutvehicleCostMap,plan,pathplannerRRT will not work, according to the document.