b">y</a> + y_dir)] &lt; costmap_2d::LETHAL_OBSTACLE * <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#a83ba891578a88d367cf23d5fcc689e03">factor_</a>)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </di