collision_environment: collision_environment_msgs | collision_map | collision_space | distance_field

Package Summary

This package contains algorithms that can compute the Euclidean Distance Transform (EDT) of a 3-D voxel grid. The input to these algorithms is an array of points (which could represent the positions of obstacles in the world). The EDT provides a voxel grid in which in which each cell contains the distance to the closest obstacle. The VoxelGrid class can also be used as a generic, templatized container for a discretized 3-D voxel grid.

Further details are available in the Code API.

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