>return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">if</span> (costs[<a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a59f59f8c3b404685e0407a9218d8bf7c">grid2Index</a>(<a class="code" href="namespaceFakeAMCL.html#a7296b79dbd0fb71ff3cd0b7ffbc78818">x</a> - 1, <a class="code" href="namespaceFakeAMCL.html#a3dee7fb15658ad8f15b2efe56292140b">y</a>)] &gt;= costmap_2d::LETHAL_OBSTACLE 