0e4c986e166f0ab">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, Ant&amp; best_ant);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" h