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The sdf_tools package provides three major classes:

• CollisionMapGrid, a 3D-grid that stores occupancy (as probability between 0 and 1) and supports a range of topology computation. This class can export a corresponding SignedDistanceField, and is the recommended way to produce Signed Distance Fields unless you're using SDFBuilder.

• SignedDistanceField, a 3D Signed Distance Field, which stores signed distance as a float for every voxel. Supports queries for distance and gradient.

• SDFBuilder, a helper class that produces CollisionMapGrid and SignedDistanceField representations of the planning scene maintained by MoveIt!. If you need an SDF of the planning scene, this is how you get it.