div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">auto</span> costs = <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a620ae66f03f93d69f0fe7425f196279e">costmap_</a>-&gt;getCharMap();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="comment">// horizontal</span></div>
<div class="line"><a name="l00156"><