ompl::base::StateValidityCheckerSpecs Struct Reference

Properties that a state validity checker may have. More...

#include <ompl/base/StateValidityChecker.h>

Public Types

enum  ClearanceComputationType { NONE = 0, EXACT, APPROXIMATE, BOUNDED_APPROXIMATE }
 Specify the type of clearance computation. More...

Public Attributes

ClearanceComputationType clearanceComputationType {NONE}
 Value indicating the kind of clearance computation this StateValidityChecker can compute (if any).
bool hasValidDirectionComputation {false}
 Flag indicating that this state validity checker can return a direction that moves a state away from being invalid.

Detailed Description

Properties that a state validity checker may have.

Definition at line 60 of file StateValidityChecker.h.

Member Enumeration Documentation

◆ ClearanceComputationType

Specify the type of clearance computation.


Clearance computation is not implemented.


Exact clearance computation is available.


Some approximation of clearance is computed, but it is not clear if this is above or below the exact clearance.


A lower bound on clearance is computed.

Definition at line 63 of file StateValidityChecker.h.

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