ss="keyword">const</span> <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a1e5ec571706ef5101d251f47489599b3">Point3d</a>&amp; start, <span class="keyword">const</span> <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a1e5ec571706ef5101d251f47489599b3">Point3d</a>&amp; goal, <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a26d0906fd51a6dcce086337a694f2df9">Points3d</a>&amp; path, <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a26