private boolean isObstacle(int row, int col)
    {
        if(row<0 || row>=grid.length) return true;
        if(col<0 || col>=grid[row].length) return true;

        for(Observation obs : grid[row][col])
        {
            if(obstacleItypes.contains(obs.itype))
                return true;
        }

        return false;

    }