How to get the clearance of a motion path?

edit

Hi All,

Having a motion path (trajectory) using ompl as in here, how to get the clearance of it?

I found a perfect function for it in the ompl-pkg API here.

How to use it?

How could we put it somewhere inside this?

...
    motion_planning_msgs::GetMotionPlan::Request request;
    motion_planning_msgs::GetMotionPlan::Response response;
    ...     
    ros::ServiceClient service_client = nh.serviceClient<motion_planning_msgs::GetMotionPlan ("ompl_planning/plan_kinematic_path");
          service_client.call(request,response);
          if(response.error_code.val != response.error_code.SUCCESS)
          {
            ROS_ERROR("Motion planning failed");
          }
          else
          {
            ROS_INFO("Motion planning succeeded");
            // !!!!! Compute the clearance here !!!!! (?)
          }
    ...

Given a response (motion_planning_msgs::GetMotionPlan::Response), how to spawn an instance of ompl::geometric::PathGeometric? See the constructor here.

Thanks a lot.