Add calcNormalClearance algorithm #25
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The algorithm computes the free space above the surface at each vertex. It uses the EmbreeRaycaster if embree is available and the BVHRaycaster otherwise. To make the BVHRaycaster work for all mesh sizes a constructor which uses the BVH trees depth to determine the needed stack size is added.
mesh_navigation/mesh_map package and was not used anywhere
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The algorithm computes the free space above the surface at each vertex. It uses the EmbreeRaycaster if embree is available and the BVHRaycaster otherwise. To make the BVHRaycaster work for all mesh sizes a constructor which uses the BVH trees depth to determine the needed stack size is added.
This algorithm is used in the
lvr2_hdf5_mesh_toolto calculate thefreespacelayer which in turn can be used to prevent the robot from driving through doors, holes, etc. which it would not fit through.