Pointcloud volume #25
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Need to merge #23 first since this is based on that |
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make the default flag to throw away old point cloud |
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Reverted back to the old implementation after testing it works. Kept the documentation |
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Fixes #21
The octree used to be destroyed and created on every update_pointcloud call. Now they are persistent.
Also if the radius is non-zero, we add 6 points around each center point to make sure the robot does not come too close to any obstacle.