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  • Florent Lamiraux's avatar
    [Test] Fix octree construction · 0712125c
    Florent Lamiraux authored
      Position of octree is defined by resolution only. cell center coordinates are
      of the form:
        ((kx+.5)*resolution, (ky+.5)*resolution, (kz+.5)*resolution), where
        kx, ky, kz are integers.
      This commit fixes the construction of the environment octree in order to
      respect this constraint.
      In test_fcl_octree, envOctree contains envMesh.