functions to modify an octomap

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The Pose6D defines a transformation. What you'd basically have to do:

• Create a new empty OcTree
• Iterate over your OcTree's cells
• For each cell:
  • Transform its coordinates using your transform
  • Insert this cell at the transformed coordinates into the empty OcTree

However, this is very inefficient and at the same time the only way of doing that in principle. You'll need to identify your use case for that to decide if you really need to do this, otherwise, follow @jj56's advice.