for(const type_transform::BoostVelocity& check_velocity : velocities_of_care)
    {
        double distance_to_obstacle = 0.0;
        type_transform::BoostPosition robot_position_after;
        std::tie(distance_to_obstacle, std::ignore, robot_position_after) =
                checkDistanceToObstacles(
                    robot_position, previous_velocity, check_velocity,
                    obstacles, robot_model
                );
        will_hit = (distance_to_obstacle <= 0.0);
        if(!will_hit) // will not hit
        {
            best_velocity = check_velocity;
            break;
        }
    }