ass="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// next node hit the boundary or obstacle</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (new_point.id() &lt; 0 || new_point.id() &gt;= <a class="code" href="classrmp_1_1path__planner_1_1PathPlanner.html#af038f083103d56af6b86eb0a1909f53f">map_size_<