ClearanceCalculator Class Reference

Interface for ClearanceCalculator. More...

#include <ClearanceCalculator.hpp>

Inherited by MinimumClearanceCalculator.

Public Types
typedef rw::core::Ptr< ClearanceCalculator >	Ptr
	A pointer to a ClearanceCalculator.
typedef rw::core::Ptr< const ClearanceCalculator >	CPtr
	A pointer to a const ClearanceCalculator.

Public Member Functions
virtual	~ClearanceCalculator ()
	Destructor.
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.

Parameters

state

[in] State for which to calculate the clearance

Returns

The clearance.

Implemented in MinimumClearanceCalculator.

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

• ClearanceCalculator.hpp