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Minimum clearance of path

`clearance(`

returns the minimum
clearance of the path. Clearance is measured as the minimum distance between grid cell
centers of states on the path and obstacles in the specified map environment.`pathMetricsObj`

)

**Note**

The computed clearance is accurate up to `sqrt(2)`

times grid map
cell size.

`clearance(`

returns the set of minimum distances for each state of the path, in the form of an
`pathMetricsObj`

,`'Type'`

,`'states'`

)*n*-by-1 vector, where *n* is the number of
states.