Octomap derived classes for grasp planning operations. Include useful utilities such as importers from base octree objects, type casting to a visualisable tree (color-coded), and others.
It consists of two classes:
OcTreeGraspQuality: Class for target objects. Nodes contain a grasp quality array with its numeric score and associated orientationOcTreeGripper: Class for grippers. Nodes can be tagged as grasping surfaces or not, which dictate whether a contact with a voxel of the target object there is desirable or not.