MoveIt! Collision Detection of Single Point

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Hello,

I am using planning_scene::PlanningScene of MoveIt! to detect collisions with the checkCollision member function.

Now I would like to program a lower-level collision check. How can I detect a collision of a single point (x,y,z)?

My goal is for a given set of points (i.e. point cloud), categorizing each point into (1) colliding with a robot or an object or (2) no-collision. I guess a collision detection of single point would solve this problem. But if have any other ideas, please let me know.

Thanks!