rocess </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>tuple contatining a bool as to whether a path was found, and the path </dd></dl>

<p>Implements <a class="el" href="classrmp_1_1path__planner_1_1PathPlanner.html#ada62f3d0cecce0ba55946210596c80f9">rmp::path_planner::PathPlanner</a>.</p>
<div class="fragment"><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;{</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160