RobWorkProject  23.9.11-
Public Types | Public Member Functions | List of all members
ClearanceCalculator Class Referenceabstract

Interface for ClearanceCalculator. More...

#include <ClearanceCalculator.hpp>

Inherited by MinimumClearanceCalculator.

Public Types

typedef rw::core::Ptr< ClearanceCalculatorPtr
 A pointer to a ClearanceCalculator.
typedef rw::core::Ptr< const ClearanceCalculatorCPtr
 A pointer to a const ClearanceCalculator.

Public Member Functions

virtual ~ClearanceCalculator ()
virtual double clearance (const rw::kinematics::State &state) const =0
 Calculates Clearance for the state. More...

Detailed Description

Interface for ClearanceCalculator.

A ClearanceCalculator provides a mean for calculating the clearance of for a state. While the concept of clearance usually refers to the distance between a device and obstacle, not such assumption should be made based on the interface, as other fitness criteria may be implemented.

Only convention is that a high clearance value is better than a low.

Member Function Documentation

◆ clearance()

virtual double clearance ( const rw::kinematics::State state) const
pure virtual

Calculates Clearance for the state.

state[in] State for which to calculate the clearance
The clearance.

Implemented in MinimumClearanceCalculator.

The documentation for this class was generated from the following file: