37 #ifndef OMPL_EXTENSION_OPENDE_ENVIRONMENT_
38 #define OMPL_EXTENSION_OPENDE_ENVIRONMENT_
40 #include "ompl/config.h"
41 #if OMPL_EXTENSION_OPENDE == 0
42 # error OpenDE extension not built
45 #include "ompl/util/ClassForward.h"
51 #include <boost/thread/mutex.hpp>
60 ClassForward(OpenDEEnvironment);
83 std::map<dGeomID, std::string>
122 virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper)
const = 0;
127 virtual void applyControl(
const double *control)
const = 0;
133 virtual bool isValidCollision(dGeomID geom1, dGeomID geom2,
const dContact& contact)
const;
138 virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2)
const;
141 virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact)
const;
147 void setGeomName(dGeomID geom,
const std::string &name);