ClearanceCalculator (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_pathoptimization.ClearanceCalculator

Direct Known Subclasses:

MinimumClearanceCalculator
```
public class ClearanceCalculator
extends java.lang.Object
```
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.

Constructor Summary

Constructors
Constructor Description

ClearanceCalculator(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`double`	`clearance(State state)`	Calculates Clearance for the state
`void`	`delete()`
`static long`	`getCPtr(ClearanceCalculator obj)`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ClearanceCalculator

public ClearanceCalculator(long cPtr,
                           boolean cMemoryOwn)

Method Detail
- getCPtr
```
public static long getCPtr(ClearanceCalculator obj)
```
- delete
```
public void delete()
```
- clearance
```
public double clearance(State state)
```
  Calculates Clearance for the state
  
  Parameters:
  
  state - [in] State for which to calculate the clearance
  
  Returns:
  
  The clearance.