Fixing rubber band propogation

UM-ARM-Lab / smmap

Simultaneous Modeling Manipulation And Planning

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Fixing rubber band propogation #8

Closed dmcconachie closed 7 years ago

dmcconachie commented 7 years ago

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.