nSequence</a>&amp; initial_positions, <span class="keyword">const</span> <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a2deb0710ce69a35dc0e4c986e166f0ab">Point2d</a>&amp; start, <span class="keyword">const</span> <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a2deb0710ce69a35dc0e4c986e166f0ab">Point2d</a>&amp; goal,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                           <span class="keywordtype">int</span> gen