ew_point.set_g(point.g() + motion.g());</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  new_point.set_id(<a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a59f59f8c3b404685e0407a9218d8bf7c">grid2Index</a>(new_point.x(), new_point.y()));</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  new_point.set_pid(point.id());</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  new_point.set_h(