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collision_octomap_filter.h File Reference
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_world.h>
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namespace  collision_detection

Generic interface to collision detection.


int collision_detection::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 occupied cells in a neighborhood of the contact point.

Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:53