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add_clearance_exposure_risk

rust_robotics_planning::traversal_risk_graph

Function add_clearance_exposure_risk 

Source 
pub fn add_clearance_exposure_risk(
    cells: &[Vec<TerrainRiskCell>],
    config: &ClearanceRiskConfig,
) -> RoboticsResult<Vec<Vec<TerrainRiskCell>>>
Expand description

Add low-clearance exposure risk while preserving existing terrain channels.

A cell at or above minimum_clearance receives no additional exposure risk. Closer cells receive linearly increasing risk up to max_risk.