1.7~2 times fast then the function VoxelCasting proved useful

\brief Constructor. * Sets \ref leaf_size_ to 0 and \ref searchable_ to false. */

@brief Set the time to zero

\brief Auxilary function used to determin endpoints of More-Thuente interval. * \note \f$ \psi(\alpha) \f$ in Equation 1.6 (Moore, Thuente 1994)

\brief Auxilary function derivative used to determin endpoints of More-Thuente interval. * \note \f$ \psi'(\alpha) \f$, derivative of Equation 1.6

Workarounds for (non-standard) iterator category detection for older versions (MSVC7/IC8 and earlier)

Workarounds for (non-standard) iterator category detection

\brief Estimate the transformation and returns the transformed source (input) as output. * \param[out] output the resultant input transfomed point

\brief Convert 6 element transformation vector to affine transformation. * \param[in] x transformation vector of the form [x, y, z, roll, pitch, y

Memory allocation