Struct StateValidityCheckerSpecs

• Defined in File StateValidityChecker.h

Struct Documentation

struct StateValidityCheckerSpecs

Properties that a state validity checker may have.

Public Types

enum ClearanceComputationType

Specify the type of clearance computation.

Values:

enumerator NONE

Clearance computation is not implemented.

enumerator EXACT

Exact clearance computation is available.

enumerator APPROXIMATE

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

enumerator BOUNDED_APPROXIMATE

A lower bound on clearance is computed.

Public Functions

StateValidityCheckerSpecs() = default

Public Members

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.