ame">costmap</td><td>the environment for path planning </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                                                                  : <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a8157ebf14152fb91b949f9a5828b73a7">PathPlanner</a>(costmap_ros)</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;{</div>
<div class="line"><a name="l0