Best practices: checking a path with Costmap2DROS

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Hi,

I have a populated Costmap2DROS object and a vector of poses which make up the robot's path. I need to verify that on every pose, the robot is not in collision.

It should be sufficient to check whether the pose lies within the robot's inscribed radius, although if the computational load is light enough I could check the robot's footprint.

What are the best practices for doing this with a Costmap2DROS? I have found that I can make a copy of the underlying costmap, but this seems inefficient.

Thanks!