ros-planning/moveit_core — pull request #223 by mikeferguson (2014-12-17 21:04:25+00:00)
Title: add getShapePoints() to distance field

Current API does all the conversions internally for addShapeToField(). If we are tracking and updating a distance field in our World class, need to be able to get the points added so that we can cache them and handle move requests properly.