v>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="comment">// diagonal</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">if</span> (x_dir &amp;&amp; y_dir)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">if</span> (costs[<a class="code" href="