message: Turn off adaptive by default.
diff: @@ -19,9 +19,18 @@ bool EsdfMap::getDistanceAndGradientAtPosition(
  Eigen::Vector3d* gradient) const {
  FloatingPoint distance_fp;
  Point gradient_fp = Point::Zero();
  -
  - bool success = interpolator_.getAdaptiveDistanceAndGradient(
  + bool interpolate = true;
  + bool use_adaptive = false;
  + bool success = false;
  + if (use_adaptive) {
  + success = interpolator_.getAdaptiveDistanceAndGradient(
  position.cast<FloatingPoint>(), &distance_fp, &gradient_fp);
  + } else {
  + success = interpolator_.getDistance(position.cast<FloatingPoint>(),
  + &distance_fp, interpolate);
  + success &= interpolator_.getGradient(position.cast<FloatingPoint>(),
  + &gradient_fp, interpolate);
  + }
  *distance = static_cast<double>(distance_fp);
  *gradient = gradient_fp.cast<double>();
  