MinimumClearanceCalculator (RobWork Java API Documentation)

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

```
public class MinimumClearanceCalculator
extends ClearanceCalculator
```
Implements a MinimumClearanceCalculator

The minimum clearance is defined as the minimal distance between any two geometries, which
are not excluded by the collision setup.

Constructor Summary

Constructors
Constructor	Description
`MinimumClearanceCalculator(long cPtr, boolean cMemoryOwn)`
`MinimumClearanceCalculator(WorkCellPtr workcell, State state)`	Constructs a MinimumClearanceCalculator for a workcell
`MinimumClearanceCalculator(DistanceCalculatorCPtr distancecalculator)`	Constructs a MinimumClearanceCalculator using the DistanceCalculator provided. Use this constructor to use an already existing DistanceCalculator

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(MinimumClearanceCalculator obj)`

Methods inherited from class org.robwork.sdurw_pathoptimization.ClearanceCalculator
getCPtr

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

- Constructor Detail
  - MinimumClearanceCalculator
```
public MinimumClearanceCalculator(long cPtr,
                                  boolean cMemoryOwn)
```
  - MinimumClearanceCalculator
```
public MinimumClearanceCalculator(DistanceCalculatorCPtr distancecalculator)
```
    Constructs a MinimumClearanceCalculator using the DistanceCalculator provided.
    
    Use this constructor to use an already existing DistanceCalculator
    
    Parameters:
    
    distancecalculator - [in] The distance calculator to use
  - MinimumClearanceCalculator
```
public MinimumClearanceCalculator(WorkCellPtr workcell,
                                  State state)
```
    Constructs a MinimumClearanceCalculator for a workcell
    
    Parameters:
    
    workcell - [in] WorkCell for which to calculate the minimum clearance
    
    state - [in] State of the workcell
- Method Detail
  - getCPtr
```
public static long getCPtr(MinimumClearanceCalculator obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class ClearanceCalculator
  - clearance
```
public double clearance(State state)
```
    Description copied from class: ClearanceCalculator
    
    Calculates Clearance for the state
    
    Overrides:
    
    clearance in class ClearanceCalculator
    
    Parameters:
    
    state - [in] State for which to calculate the clearance
    
    Returns:
    
    The clearance.