a name="l00129"></a><span class="lineno">  129</span>&#160;    <a class="code" href="classrmp_1_1path__planner_1_1JPSPathPlanner.html#a143144c81626d9d4f220fed71773a3dd">Node</a> y_dir(0, motion.y(), 1, 0, 0, 0);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classrmp_1_1path__planner_1_1JPSPathPlanner.html#a38a6d6958d085c13c785d965917e902a">jump</a>(new_point, x_dir).<span class="keywordtype">id</span>() != -