Some changes to address https://github.com/UM-ARM-Lab/smmap/issues/6. Forward propagation has been streamlined and our use of the SDF has been changed to use the EstimateDistance functions instead of the raw Get functions. Also requires changes that have been pushed to master in sdf_tools.
Some changes to address https://github.com/UM-ARM-Lab/smmap/issues/6. Forward propagation has been streamlined and our use of the SDF has been changed to use the EstimateDistance functions instead of the raw Get functions. Also requires changes that have been pushed to master in sdf_tools.