<span class="comment">// vertical</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">if</span> (!x_dir &amp;&amp; y_dir)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">if</span> (costs[<a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a59f59f8c3b404685e0407a9218d8bf7c">g