collision_octomap_filter.h

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/* Author: Adam Leeper */
 
#pragma once
 
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_env.h>
 
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);
}  // namespace collision_detection