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.

## ◆ 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.

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