moveit2
The MoveIt Motion Planning Framework for ROS 2.
collision_octomap_filter.h
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34 
35 /* Author: Adam Leeper */
36 
37 #pragma once
38 
41 
42 namespace collision_detection
43 {
60 int refineContactNormals(const World::ObjectConstPtr& object, CollisionResult& res,
61  double cell_bbx_search_distance = 1.0, double allowed_angle_divergence = 0.0,
62  bool estimate_depth = false, double iso_value = 0.5, double metaball_radius_multiple = 1.5);
63 } // namespace collision_detection
int refineContactNormals(const World::ObjectConstPtr &object, CollisionResult &res, double cell_bbx_search_distance=1.0, double allowed_angle_divergence=0.0, bool estimate_depth=false, double iso_value=0.5, double metaball_radius_multiple=1.5)
Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of ...