00038"></a><span class="lineno"><a class="line" href="classrmp_1_1controller_1_1ORCAController.html">   38</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrmp_1_1controller_1_1ORCAController.html">ORCAController</a> : <span class="keyword">public</span> nav_core::BaseLocalPlanner, <a class="code" href="classrmp_1_1controller_1_1Controller.html">Controller</a></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;{</div>
<div class="line"><a name="l