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OpenDEEnvironment.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/extensions/opende/OpenDEEnvironment.h"
38 #include <boost/lexical_cast.hpp>
39 
40 unsigned int ompl::control::OpenDEEnvironment::getMaxContacts(dGeomID geom1, dGeomID geom2) const
41 {
42  return maxContacts_;
43 }
44 
45 bool ompl::control::OpenDEEnvironment::isValidCollision(dGeomID geom1, dGeomID geom2, const dContact& contact) const
46 {
47  return false;
48 }
49 
50 void ompl::control::OpenDEEnvironment::setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const
51 {
52  contact.surface.mode = dContactBounce | dContactSoftCFM;
53  contact.surface.mu = 0.1;
54  contact.surface.mu2 = 0;
55  contact.surface.bounce = 0.01;
56  contact.surface.bounce_vel = 0.001;
57  contact.surface.soft_cfm = 0.01;
58 }
59 
60 std::string ompl::control::OpenDEEnvironment::getGeomName(dGeomID geom) const
61 {
62  std::map<dGeomID, std::string>::const_iterator it = geomNames_.find(geom);
63  if (it == geomNames_.end())
64  return boost::lexical_cast<std::string>(reinterpret_cast<unsigned long>(geom));
65  else
66  return it->second;
67 }
68 
69 void ompl::control::OpenDEEnvironment::setGeomName(dGeomID geom, const std::string &name)
70 {
71  geomNames_[geom] = name;
72 }