Lethal Definition for costmap_2d

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Hi,

I'm writing a dynamic footprint node, which projects a robot's arm state down onto the 2d polygon for the footprint of the robot. This is based on a rectangular project of the robot's arms with the state coming from tf. The goal of this is to conservatively plan with the robot's arms moving around (e.g. a static rectangle is not a sufficient definition for the robot's footprint).

My concern is this: even with the arms projected down, is the "lethal" point of the robot still only considered the midpoint of the robot, or is any point inside of the footprint polygon that is inflation_radius distance away considered lethal? Here's a mockup picture of what I'm talking about. Is the lethal point a constant in the center of the footprint polygon, or an area based on the shape of the footprint polygon?

Thanks!