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 124 of file StateValidityChecker.h.

Member Enumeration Documentation

ClearanceComputationType

enum ompl::base::StateValidityCheckerSpecs::ClearanceComputationType

Specify the type of clearance computation.

Enumerator
NONE	Clearance computation is not implemented.
EXACT	Exact clearance computation is available.
APPROXIMATE	Some approximation of clearance is computed, but it is not clear if this is above or below the exact clearance.
BOUNDED_APPROXIMATE	A lower bound on clearance is computed.

Definition at line 127 of file StateValidityChecker.h.

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

• ompl/base/StateValidityChecker.h