lass="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// goal found</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span> (current == <a class="code" href="classrmp_1_1path__planner_1_1JPSPathPlanner.html#a59c32e0e3d61389982b9d63ed7148b18">goal_</a>)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    {</div>
<div class="line"><a name="l00076"></a><span